SELECT 
  id_path 
FROM 
  cscart_categories 
WHERE 
  category_id IN (
    337, 338, 339, 340, 342, 344, 345, 349, 
    350, 352, 354, 355, 356, 358, 359, 360, 
    361, 362, 363, 369, 370, 372, 373, 374, 
    377, 379, 381, 384, 390, 391, 394, 395, 
    396
  )

Query time 0.00095

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": 32,
      "filtered": "28.70",
      "cost_info": {
        "read_cost": "21.42",
        "eval_cost": "6.60",
        "prefix_cost": "28.02",
        "data_read_per_join": "88K"
      },
      "used_columns": [
        "category_id",
        "id_path"
      ],
      "attached_condition": "(`eshopuga_upgr_4122`.`cscart_categories`.`category_id` in (337,338,339,340,342,344,345,349,350,352,354,355,356,358,359,360,361,362,363,369,370,372,373,374,377,379,381,384,390,391,394,395,396))"
    }
  }
}