SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    36181, 32411, 35738, 33868, 33884, 33903, 
    33865, 33856, 36185, 33906, 33578, 
    23101, 911, 868, 909, 6657, 6663, 5780, 
    2474, 3624, 2554, 6641, 1862, 6635, 
    867, 995, 971, 951, 839, 964, 6373, 927, 
    992, 13963, 968, 937, 7123, 981, 13053, 
    2614, 6799, 851, 7130, 3813, 6631, 7225, 
    2557, 2538, 6632, 6839, 2463, 918, 2960, 
    6638, 912, 6578, 5393, 6664, 14054, 
    5152, 5521, 16633, 5457, 13998, 23804, 
    13957, 870, 1111, 2890, 931, 23795, 
    41282
  )

Query time 0.00094

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "21.78"
    },
    "table": {
      "table_name": "cscart_categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 107,
      "rows_produced_per_join": 107,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "11.08",
        "eval_cost": "10.70",
        "prefix_cost": "21.78",
        "data_read_per_join": "277K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`maniamall_cscart`.`cscart_categories`.`parent_id` in (36181,32411,35738,33868,33884,33903,33865,33856,36185,33906,33578,23101,911,868,909,6657,6663,5780,2474,3624,2554,6641,1862,6635,867,995,971,951,839,964,6373,927,992,13963,968,937,7123,981,13053,2614,6799,851,7130,3813,6631,7225,2557,2538,6632,6839,2463,918,2960,6638,912,6578,5393,6664,14054,5152,5521,16633,5457,13998,23804,13957,870,1111,2890,931,23795,41282))"
    }
  }
}

Result