SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    43213, 43211, 43212, 43210, 43074, 4740, 
    13267, 30113, 32195, 1558, 36966, 36191, 
    119, 2191, 15171, 14416, 15968, 21225, 
    19916
  ) 
  AND category_id != 1

Query time 0.00094

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost": 0.275916799,
    "nested_loop": [
      {
        "table": {
          "table_name": "cscart_categories",
          "access_type": "range",
          "possible_keys": ["PRIMARY", "parent", "p_category_id"],
          "key": "parent",
          "key_length": "3",
          "used_key_parts": ["parent_id"],
          "loops": 1,
          "rows": 211,
          "cost": 0.275916799,
          "filtered": 100,
          "index_condition": "cscart_categories.parent_id in (43213,43211,43212,43210,43074,4740,13267,30113,32195,1558,36966,36191,119,2191,15171,14416,15968,21225,19916)",
          "attached_condition": "cscart_categories.category_id <> 1"
        }
      }
    ]
  }
}