SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    2985, 2992, 2993, 3005, 3006, 3007, 3134, 
    3151, 3275, 3276, 3277, 3278, 3279, 
    3280, 3281, 3288, 3343, 3374, 3388, 
    3397, 3407
  ) 
  AND category_id != 414

Query time 0.00055

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "32.26"
    },
    "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": 60,
      "rows_produced_per_join": 60,
      "filtered": "100.00",
      "index_condition": "(`s2cart`.`cscart_categories`.`parent_id` in (2985,2992,2993,3005,3006,3007,3134,3151,3275,3276,3277,3278,3279,3280,3281,3288,3343,3374,3388,3397,3407))",
      "cost_info": {
        "read_cost": "26.26",
        "eval_cost": "6.00",
        "prefix_cost": "32.26",
        "data_read_per_join": "212K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`s2cart`.`cscart_categories`.`category_id` <> 414)"
    }
  }
}