SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    645, 664, 680, 685, 695, 696, 697, 701, 
    706, 713, 714, 715, 716, 717, 718, 719, 
    720, 736, 737, 740, 743, 749, 751, 752
  ) 
  AND category_id != 414

Query time 0.00055

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "39.76"
    },
    "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": 75,
      "rows_produced_per_join": 75,
      "filtered": "100.00",
      "index_condition": "(`s2cart`.`cscart_categories`.`parent_id` in (645,664,680,685,695,696,697,701,706,713,714,715,716,717,718,719,720,736,737,740,743,749,751,752))",
      "cost_info": {
        "read_cost": "32.26",
        "eval_cost": "7.50",
        "prefix_cost": "39.76",
        "data_read_per_join": "265K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`s2cart`.`cscart_categories`.`category_id` <> 414)"
    }
  }
}