SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    569, 571, 572, 573, 578, 579, 585, 586, 
    587, 603, 604, 605, 610, 611, 616, 617, 
    618, 619, 620, 621, 628, 635, 636, 640, 
    641
  ) 
  AND category_id != 414

Query time 0.00041

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "34.61"
    },
    "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": 63,
      "rows_produced_per_join": 63,
      "filtered": "100.00",
      "index_condition": "(`s2cart`.`cscart_categories`.`parent_id` in (569,571,572,573,578,579,585,586,587,603,604,605,610,611,616,617,618,619,620,621,628,635,636,640,641))",
      "cost_info": {
        "read_cost": "28.31",
        "eval_cost": "6.30",
        "prefix_cost": "34.61",
        "data_read_per_join": "222K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`s2cart`.`cscart_categories`.`category_id` <> 414)"
    }
  }
}

Result

category_id parent_id
570 569
576 573
577 573
574 573
575 573
581 579
582 579
583 579
584 579
580 579
588 587
589 587
591 587
593 587
594 587
596 587
597 587
609 605
608 605
607 605
606 605
615 611
613 611
614 611
612 611
626 621
627 621
622 621
623 621
624 621
625 621
632 628
633 628
634 628
631 628
629 628
630 628
637 636
638 636
639 636
643 641
642 641