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 0.00075

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)"
    }
  }
}

Result

category_id parent_id
1547 1546
1550 1549
1571 1570
1572 1570
1573 1570
1574 1570