SELECT 
  a.category_id 
FROM 
  cscart_categories as a 
  LEFT JOIN cscart_categories as b ON b.category_id IN (
    35, 44, 62, 70, 75, 95, 114, 136, 146, 161, 
    162, 163, 164, 165, 174
  ) 
WHERE 
  a.id_path LIKE CONCAT(b.id_path, '/%')

Query time 0.00140

JSON explain

{
  "query_block": {
    "select_id": 1,
    "table": {
      "table_name": "b",
      "access_type": "range",
      "possible_keys": ["PRIMARY", "p_category_id"],
      "key": "PRIMARY",
      "key_length": "3",
      "used_key_parts": ["category_id"],
      "rows": 15,
      "filtered": 100,
      "index_condition": "b.category_id in (35,44,62,70,75,95,114,136,146,161,162,163,164,165,174)"
    },
    "block-nl-join": {
      "table": {
        "table_name": "a",
        "access_type": "ALL",
        "rows": 142,
        "filtered": 100
      },
      "buffer_type": "flat",
      "buffer_size": "12Kb",
      "join_type": "BNL",
      "attached_condition": "a.id_path like concat(b.id_path,'/%')"
    }
  }
}