SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    2086, 2117, 2218, 2137, 2260, 2273, 2256, 
    2258, 2002, 2257, 2342, 1983, 2005, 
    2118, 2015, 2276, 2300, 1994, 2143, 
    2261, 2294, 2072, 3551, 2278, 2129, 
    2269, 2315, 1995, 2136, 2290, 2320, 
    2343
  ) 
  AND category_id != 414

Query time 0.00056

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "35.46"
    },
    "table": {
      "table_name": "cscart_categories",
      "access_type": "range",
      "possible_keys": [
        "PRIMARY",
        "parent",
        "p_category_id"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 61,
      "rows_produced_per_join": 61,
      "filtered": "100.00",
      "index_condition": "(`s2cart`.`cscart_categories`.`parent_id` in (2086,2117,2218,2137,2260,2273,2256,2258,2002,2257,2342,1983,2005,2118,2015,2276,2300,1994,2143,2261,2294,2072,3551,2278,2129,2269,2315,1995,2136,2290,2320,2343))",
      "cost_info": {
        "read_cost": "29.36",
        "eval_cost": "6.10",
        "prefix_cost": "35.46",
        "data_read_per_join": "215K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`s2cart`.`cscart_categories`.`category_id` <> 414)"
    }
  }
}