SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    9832, 3104, 3105, 3557, 3535, 3540, 3532, 
    2910, 5637, 9697
  )

Query time 0.00074

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "62.32"
    },
    "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": 153,
      "rows_produced_per_join": 153,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "31.72",
        "eval_cost": "30.60",
        "prefix_cost": "62.32",
        "data_read_per_join": "907K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`webmarco`.`cscart_categories`.`parent_id` in (9832,3104,3105,3557,3535,3540,3532,2910,5637,9697))"
    }
  }
}