SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    3205, 3206, 3207, 3208, 3209, 3460, 3461, 
    3462, 3463, 3909
  )

Query time 0.00016

JSON explain

{
  "query_block": {
    "select_id": 1,
    "table": {
      "table_name": "cscart_categories",
      "access_type": "range",
      "possible_keys": ["parent"],
      "key": "parent",
      "key_length": "3",
      "used_key_parts": ["parent_id"],
      "rows": 10,
      "filtered": 100,
      "index_condition": "cscart_categories.parent_id in (3205,3206,3207,3208,3209,3460,3461,3462,3463,3909)"
    }
  }
}