Если вы используете MySQL v8, вы можете воспроизвести свой пример следующим образом:
with samplesList as (
select 1121 as id union all
select 2121 union all
select 3121
)
SELECT *
FROM samples
where samplesId in (select id from samplesList)
Или в любой версии MySQL:
create temporary table samplesList (id int);
insert into samplesList(id) values(1121),(2121),(3121);
SELECT *
FROM samples
where samplesId in (select id from samplesList)