SELECT 
  category_id, 
  parent_id 
FROM 
  categories 
WHERE 
  parent_id IN(
    4459, 1114, 1286, 1111, 1256, 1107, 1625, 
    1108, 1099, 3126, 1100, 1103, 2186, 
    2190, 2012, 2189, 1105, 1623, 1101, 
    1109, 1624, 1353, 1106, 1096, 3125, 
    1097, 16320
  )

Query time 0.00072

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "9.82"
    },
    "table": {
      "table_name": "categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 46,
      "rows_produced_per_join": 46,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "5.22",
        "eval_cost": "4.60",
        "prefix_cost": "9.82",
        "data_read_per_join": "120K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`goimagine`.`categories`.`parent_id` in (4459,1114,1286,1111,1256,1107,1625,1108,1099,3126,1100,1103,2186,2190,2012,2189,1105,1623,1101,1109,1624,1353,1106,1096,3125,1097,16320))"
    }
  }
}