SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    21104, 21107, 21091, 18318, 22491, 20163, 
    28, 22403
  ) 
  AND category_id != 1

Query time 0.00008

JSON explain

{
  "query_block": {
    "select_id": 1,
    "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"],
          "rows": 112,
          "filtered": 100,
          "index_condition": "cscart_categories.parent_id in (21104,21107,21091,18318,22491,20163,28,22403)",
          "attached_condition": "cscart_categories.category_id <> 1"
        }
      }
    ]
  }
}