SELECT 
  category_id, 
  parent_id 
FROM 
  categories 
WHERE 
  parent_id IN(
    2085, 1563, 1564, 4574, 1746, 1713, 1719, 
    2087, 1720, 1718, 1562, 2086, 1553, 
    1554, 1558, 1556, 1557, 1555, 1559, 
    1560, 2084, 1561
  )

Query time 0.00063

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "6.45"
    },
    "table": {
      "table_name": "categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 29,
      "rows_produced_per_join": 29,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "3.55",
        "eval_cost": "2.90",
        "prefix_cost": "6.45",
        "data_read_per_join": "75K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`goimagine`.`categories`.`parent_id` in (2085,1563,1564,4574,1746,1713,1719,2087,1720,1718,1562,2086,1553,1554,1558,1556,1557,1555,1559,1560,2084,1561))"
    }
  }
}