SELECT 
  id_path 
FROM 
  cscart_categories 
WHERE 
  category_id IN (437, 438, 439, 440)

Query time 0.00072

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "9.61"
    },
    "table": {
      "table_name": "cscart_categories",
      "access_type": "range",
      "possible_keys": [
        "PRIMARY",
        "p_category_id"
      ],
      "key": "PRIMARY",
      "used_key_parts": [
        "category_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 4,
      "rows_produced_per_join": 4,
      "filtered": "100.00",
      "index_condition": "(`eshopuga_upgr_4122`.`cscart_categories`.`category_id` in (437,438,439,440))",
      "cost_info": {
        "read_cost": "8.81",
        "eval_cost": "0.80",
        "prefix_cost": "9.61",
        "data_read_per_join": "10K"
      },
      "used_columns": [
        "category_id",
        "id_path"
      ]
    }
  }
}