SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    2358, 2292, 268, 270, 269, 2313, 271, 
    272, 273, 2293, 209, 211, 210, 212, 3469, 
    3470, 3471, 3472
  )

Query time 0.00019

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": 18,
      "filtered": 100,
      "index_condition": "cscart_categories.parent_id in (2358,2292,268,270,269,2313,271,272,273,2293,209,211,210,212,3469,3470,3471,3472)"
    }
  }
}