SELECT 
  category_id, 
  parent_id 
FROM 
  categories 
WHERE 
  parent_id IN(
    4735, 4728, 4743, 4650, 4732, 4649, 4731, 
    4737, 4648, 4651, 4730, 4652, 4734, 
    4738, 4739, 14468, 4733, 4736, 4904, 
    4729
  )

Query time 0.00089

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "7.28"
    },
    "table": {
      "table_name": "categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 33,
      "rows_produced_per_join": 33,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "3.98",
        "eval_cost": "3.30",
        "prefix_cost": "7.28",
        "data_read_per_join": "86K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`goimagine`.`categories`.`parent_id` in (4735,4728,4743,4650,4732,4649,4731,4737,4648,4651,4730,4652,4734,4738,4739,14468,4733,4736,4904,4729))"
    }
  }
}