SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    1520, 1529, 1532, 1536, 1546, 1549, 1570, 
    1575, 1596, 1611, 1618, 1621, 1622, 
    1623, 1846, 1847, 1848, 1880, 1881, 
    1883, 1884, 1923, 1926, 1947, 1949, 
    1950, 1951, 1953, 1955, 1964, 1965
  ) 
  AND category_id != 414

Query time 0.00090

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "23.06"
    },
    "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": 34,
      "rows_produced_per_join": 34,
      "filtered": "100.00",
      "index_condition": "(`s2cart`.`cscart_categories`.`parent_id` in (1520,1529,1532,1536,1546,1549,1570,1575,1596,1611,1618,1621,1622,1623,1846,1847,1848,1880,1881,1883,1884,1923,1926,1947,1949,1950,1951,1953,1955,1964,1965))",
      "cost_info": {
        "read_cost": "19.66",
        "eval_cost": "3.40",
        "prefix_cost": "23.06",
        "data_read_per_join": "120K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`s2cart`.`cscart_categories`.`category_id` <> 414)"
    }
  }
}