SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    1070, 1081, 1082, 1089, 1090, 1093, 1094, 
    1095, 1096, 1097, 1098, 1101, 1114, 
    1115, 1117, 1118, 1130, 1131, 1132, 
    1133, 1140, 1141, 1142
  ) 
  AND category_id != 414

Query time 0.00055

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "33.66"
    },
    "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": 62,
      "rows_produced_per_join": 62,
      "filtered": "100.00",
      "index_condition": "(`s2cart`.`cscart_categories`.`parent_id` in (1070,1081,1082,1089,1090,1093,1094,1095,1096,1097,1098,1101,1114,1115,1117,1118,1130,1131,1132,1133,1140,1141,1142))",
      "cost_info": {
        "read_cost": "27.46",
        "eval_cost": "6.20",
        "prefix_cost": "33.66",
        "data_read_per_join": "219K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`s2cart`.`cscart_categories`.`category_id` <> 414)"
    }
  }
}