SELECT 
  id_path 
FROM 
  cscart_categories 
WHERE 
  category_id IN (
    337, 338, 339, 340, 342, 345, 349, 350, 
    353, 359, 360, 361, 362, 363, 369, 371, 
    372, 374, 376, 379, 380, 381, 385, 388, 
    390, 391, 395, 396
  )

Query time 0.00081

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "28.02"
    },
    "table": {
      "table_name": "cscart_categories",
      "access_type": "ALL",
      "possible_keys": [
        "PRIMARY",
        "p_category_id"
      ],
      "rows_examined_per_scan": 115,
      "rows_produced_per_join": 27,
      "filtered": "24.35",
      "cost_info": {
        "read_cost": "22.42",
        "eval_cost": "5.60",
        "prefix_cost": "28.02",
        "data_read_per_join": "75K"
      },
      "used_columns": [
        "category_id",
        "id_path"
      ],
      "attached_condition": "(`eshopuga_upgr_4122`.`cscart_categories`.`category_id` in (337,338,339,340,342,345,349,350,353,359,360,361,362,363,369,371,372,374,376,379,380,381,385,388,390,391,395,396))"
    }
  }
}