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 0.00085

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)"
    }
  }
}