SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    2387, 2390, 2391, 2389, 2388, 2392, 2393, 
    2394, 2395, 2396, 2397, 2402, 2406, 
    2398, 2401, 2400, 2399, 2404, 2405, 
    2403, 2408, 2409, 2411, 2414, 2412, 
    2413, 2410, 2407
  ) 
  AND category_id != 414

Query time 0.00040

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "19.61"
    },
    "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": 28,
      "rows_produced_per_join": 28,
      "filtered": "100.00",
      "index_condition": "(`s2cart`.`cscart_categories`.`parent_id` in (2387,2390,2391,2389,2388,2392,2393,2394,2395,2396,2397,2402,2406,2398,2401,2400,2399,2404,2405,2403,2408,2409,2411,2414,2412,2413,2410,2407))",
      "cost_info": {
        "read_cost": "16.81",
        "eval_cost": "2.80",
        "prefix_cost": "19.61",
        "data_read_per_join": "99K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`s2cart`.`cscart_categories`.`category_id` <> 414)"
    }
  }
}