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SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    184, 132, 82, 77, 38, 3, 204, 21, 39, 133, 
    395
  )

Query time 0.00057

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "23.91"
    },
    "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": 47,
      "rows_produced_per_join": 47,
      "filtered": "100.00",
      "index_condition": "(`test_uchur_k`.`cscart_categories`.`parent_id` in (184,132,82,77,38,3,204,21,39,133,395))",
      "cost_info": {
        "read_cost": "19.21",
        "eval_cost": "4.70",
        "prefix_cost": "23.91",
        "data_read_per_join": "248K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ]
    }
  }
}

Result

category_id	parent_id
35	3
4	3
117	3
158	3
183	3
190	3
191	3
192	3
205	3
248	3
258	3
281	3
359	3
79	38
80	38
81	38
199	38
227	38
237	38
333	38
334	38
78	77
285	77
83	82
167	82
168	82
170	82
259	82
260	82
275	82
279	82
303	82
326	82
368	82
134	132
217	132
231	132
250	132
296	132
185	184
186	184
193	184
270	184

category_id	parent_id
35	3
4	3
117	3
158	3
183	3
190	3
191	3
192	3
205	3
248	3
258	3
281	3
359	3
79	38
80	38
81	38
199	38
227	38
237	38
333	38
334	38
78	77
285	77
83	82
167	82
168	82
170	82
259	82
260	82
275	82
279	82
303	82
326	82
368	82
134	132
217	132
231	132
250	132
296	132
185	184
186	184
193	184
270	184

category_id	parent_id
35	3
4	3
117	3
158	3
183	3
190	3
191	3
192	3
205	3
248	3
258	3
281	3
359	3
79	38
80	38
81	38
199	38
227	38
237	38
333	38
334	38
78	77
285	77
83	82
167	82
168	82
170	82
259	82
260	82
275	82
279	82
303	82
326	82
368	82
134	132
217	132
231	132
250	132
296	132
185	184
186	184
193	184
270	184

category_id	parent_id
35	3
4	3
117	3
158	3
183	3
190	3
191	3
192	3
205	3
248	3
258	3
281	3
359	3
79	38
80	38
81	38
199	38
227	38
237	38
333	38
334	38
78	77
285	77
83	82
167	82
168	82
170	82
259	82
260	82
275	82
279	82
303	82
326	82
368	82
134	132
217	132
231	132
250	132
296	132
185	184
186	184
193	184
270	184