SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    1307, 1329, 1331, 1332, 1333, 1335, 1336, 
    1337, 1338, 1339, 1340, 1344, 1345, 
    1346, 1347, 1348, 1351, 1352, 1353, 
    1354, 1364, 1365, 1366, 1367, 1383, 
    1384, 1386, 1402, 1478, 1499
  ) 
  AND category_id != 414

Query time 0.00036

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "31.81"
    },
    "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": 54,
      "rows_produced_per_join": 54,
      "filtered": "100.00",
      "index_condition": "(`s2cart`.`cscart_categories`.`parent_id` in (1307,1329,1331,1332,1333,1335,1336,1337,1338,1339,1340,1344,1345,1346,1347,1348,1351,1352,1353,1354,1364,1365,1366,1367,1383,1384,1386,1402,1478,1499))",
      "cost_info": {
        "read_cost": "26.41",
        "eval_cost": "5.40",
        "prefix_cost": "31.81",
        "data_read_per_join": "191K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`s2cart`.`cscart_categories`.`category_id` <> 414)"
    }
  }
}