SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    2029, 2071, 2076, 2092, 2109, 2155, 2156, 
    2168, 2246, 2262, 2301
  ) 
  AND category_id != 414

Query time 0.00117

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "41.91"
    },
    "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": 87,
      "rows_produced_per_join": 87,
      "filtered": "100.00",
      "index_condition": "(`s2cart`.`cscart_categories`.`parent_id` in (2029,2071,2076,2092,2109,2155,2156,2168,2246,2262,2301))",
      "cost_info": {
        "read_cost": "33.21",
        "eval_cost": "8.70",
        "prefix_cost": "41.91",
        "data_read_per_join": "307K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`s2cart`.`cscart_categories`.`category_id` <> 414)"
    }
  }
}

Result

category_id parent_id
2030 2029
2031 2029
2032 2029
2033 2029
2034 2029
2035 2029
2036 2029
2037 2029
2038 2029
2039 2029
2040 2029
2041 2029
2042 2029
2043 2029
2044 2029
2077 2076
2078 2076
2079 2076
2080 2076
2081 2076
2082 2076
2083 2076
2084 2076
2085 2076
2093 2092
2094 2092
2095 2092
2096 2092
2097 2092
2098 2092
2099 2092
2100 2092
2101 2092
2102 2092
2103 2092
2104 2092
2105 2092
2106 2092
2107 2092
2108 2092
2110 2109
2111 2109
2112 2109
2113 2109
2114 2109
2157 2156
2158 2156
2159 2156
2160 2156
2161 2156
2162 2156
2163 2156
2164 2156
2165 2156
2166 2156
2169 2168
2170 2168
2171 2168
2172 2168
2173 2168
2174 2168
2247 2246
2248 2246
2249 2246
2250 2246
2251 2246
2252 2246
2253 2246
2254 2246
2255 2246
2263 2262
2264 2262
2265 2262
2266 2262
2267 2262
2268 2262
2302 2301
2303 2301
2304 2301
2305 2301
2306 2301
2307 2301
2308 2301
2309 2301
2310 2301
2311 2301
2312 2301
2313 2301
2314 2301