A set based solution that splits the id's into ints and join with the base table which will make use of index on the base table id. I assumed the id would be an int, otherwise just remove the cast.
declare @ids nvarchar(100) = N'1,2,5,456,454,343,3464';
with nums as ( -- Generate numbers
select top (len(@ids)) row_number() over (order by (select 0)) n
from sys.messages
)
, pos1 as ( -- Get comma positions
select c.ci
from nums n
cross apply (select charindex(',', @ids, n.n) as ci) c
group by c.ci
)
, pos2 as ( -- Distinct posistions plus start and end
select ci
from pos1
union select 0
union select len(@ids) + 1
)
, pos3 as ( -- add row number for join
select ci, row_number() over (order by ci) as r
from pos2
)
, ids as ( -- id's and row id for ordering
select cast(substring(@ids, p1.ci + 1, p2.ci - p1.ci - 1) as int) id, row_number() over (order by p1.ci) r
from pos3 p1
inner join pos3 p2 on p2.r = p1.r + 1
)
select *
from ids i
inner join table_name t on t.id = i.id
order by i.r;