SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    1428, 1418, 1429, 1419, 1420, 1421, 1425, 
    1426, 1424, 1427, 1422, 1423, 1433, 
    1431, 1438, 1437, 1436, 1430, 1432, 
    1435, 1434, 1440, 1439
  ) 
  AND category_id != 414

Query time 0.00087

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "16.11"
    },
    "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": 23,
      "rows_produced_per_join": 23,
      "filtered": "100.00",
      "index_condition": "(`s2cart`.`cscart_categories`.`parent_id` in (1428,1418,1429,1419,1420,1421,1425,1426,1424,1427,1422,1423,1433,1431,1438,1437,1436,1430,1432,1435,1434,1440,1439))",
      "cost_info": {
        "read_cost": "13.81",
        "eval_cost": "2.30",
        "prefix_cost": "16.11",
        "data_read_per_join": "81K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`s2cart`.`cscart_categories`.`category_id` <> 414)"
    }
  }
}