SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    29952, 7168, 5549, 2545, 2546, 7167, 
    881, 7219, 5715, 5442, 6941, 28993, 
    1162, 929, 16597, 16604, 15692, 6394, 
    15711, 29508, 6447, 5706, 3945, 29000, 
    28996, 6633, 29002, 29003, 2548, 2620, 
    6382, 6431, 15718, 16612, 29004, 9646, 
    6397, 8786, 6848, 29008, 28998, 917, 
    2494, 30406, 29006, 29001, 16599, 30497, 
    5770, 16587, 2526, 2784, 6403, 29012, 
    29020, 933, 6366, 29011, 1095, 29021, 
    15688, 29016, 29013, 6444, 7226, 29005, 
    6406, 6640, 28999, 30487, 29028, 16592, 
    15699, 29018, 8831, 30504, 29030, 7170, 
    6451, 7227, 16610, 14451, 29031, 29015, 
    30494, 6442, 29022, 29007, 915, 916, 
    1096, 30488, 28991, 7379, 11406, 29713
  )

Query time 0.00108

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "28.68"
    },
    "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": 142,
      "rows_produced_per_join": 142,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "14.49",
        "eval_cost": "14.20",
        "prefix_cost": "28.69",
        "data_read_per_join": "368K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`maniamall_cscart`.`cscart_categories`.`parent_id` in (29952,7168,5549,2545,2546,7167,881,7219,5715,5442,6941,28993,1162,929,16597,16604,15692,6394,15711,29508,6447,5706,3945,29000,28996,6633,29002,29003,2548,2620,6382,6431,15718,16612,29004,9646,6397,8786,6848,29008,28998,917,2494,30406,29006,29001,16599,30497,5770,16587,2526,2784,6403,29012,29020,933,6366,29011,1095,29021,15688,29016,29013,6444,7226,29005,6406,6640,28999,30487,29028,16592,15699,29018,8831,30504,29030,7170,6451,7227,16610,14451,29031,29015,30494,6442,29022,29007,915,916,1096,30488,28991,7379,11406,29713))"
    }
  }
}

Result