SELECT 
  id_path 
FROM 
  cscart_categories 
WHERE 
  category_id IN (
    359, 360, 361, 362, 363, 368, 369, 370, 
    371, 372, 373, 374, 375, 376, 377, 388, 
    390, 391, 392, 393, 394, 395, 396
  )

Query time 0.00077

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": 23,
      "filtered": "20.00",
      "cost_info": {
        "read_cost": "23.42",
        "eval_cost": "4.60",
        "prefix_cost": "28.02",
        "data_read_per_join": "61K"
      },
      "used_columns": [
        "category_id",
        "id_path"
      ],
      "attached_condition": "(`eshopuga_upgr_4122`.`cscart_categories`.`category_id` in (359,360,361,362,363,368,369,370,371,372,373,374,375,376,377,388,390,391,392,393,394,395,396))"
    }
  }
}