SELECT 
  category_id, 
  parent_id 
FROM 
  categories 
WHERE 
  parent_id IN(
    5150, 5144, 4479, 4476, 2587, 4481, 5146, 
    4478, 5147, 4480, 5145, 4477, 5148, 
    2586, 1399, 1400, 4473, 3876, 3665, 
    2884, 795, 1552, 23123, 1396, 5149, 
    567, 3666, 20810, 588, 1375, 3440
  )

Query time 0.00069

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "8.69"
    },
    "table": {
      "table_name": "categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 40,
      "rows_produced_per_join": 40,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "4.69",
        "eval_cost": "4.00",
        "prefix_cost": "8.69",
        "data_read_per_join": "104K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`goimagine`.`categories`.`parent_id` in (5150,5144,4479,4476,2587,4481,5146,4478,5147,4480,5145,4477,5148,2586,1399,1400,4473,3876,3665,2884,795,1552,23123,1396,5149,567,3666,20810,588,1375,3440))"
    }
  }
}