SELECT 
  id_path 
FROM 
  cscart_categories 
WHERE 
  category_id IN (
    166, 250, 328, 402, 406, 543, 545, 567, 
    570, 571
  )

Query time 0.00059

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "7.01"
    },
    "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": 10,
      "rows_produced_per_join": 10,
      "filtered": "100.00",
      "index_condition": "(`softwarepirmam_hewadelivard_cscart_4`.`cscart_categories`.`category_id` in (166,250,328,402,406,543,545,567,570,571))",
      "cost_info": {
        "read_cost": "6.01",
        "eval_cost": "1.00",
        "prefix_cost": "7.01",
        "data_read_per_join": "31K"
      },
      "used_columns": [
        "category_id",
        "id_path"
      ]
    }
  }
}