SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    418, 419, 420, 421, 422, 423, 424, 425, 
    426, 428, 429, 430, 431, 432, 433, 434, 
    435
  )

Query time 0.00028

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "30.49"
    },
    "table": {
      "table_name": "cscart_categories",
      "access_type": "ALL",
      "possible_keys": [
        "parent"
      ],
      "rows_examined_per_scan": 125,
      "rows_produced_per_join": 16,
      "filtered": "13.60",
      "cost_info": {
        "read_cost": "27.09",
        "eval_cost": "3.40",
        "prefix_cost": "30.49",
        "data_read_per_join": "69K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`cscart`.`cscart_categories`.`parent_id` in (418,419,420,421,422,423,424,425,426,428,429,430,431,432,433,434,435))"
    }
  }
}