/**
* Cart collaterals hook.
*
* @hooked woocommerce_cross_sell_display
* @hooked woocommerce_cart_totals - 10
*/
$categories = array( 39 );

foreach ( WC()->cart->get_cart() as $cart_item ) {
    if ( has_term( $categories, 'product_cat', $cart_item['product_id'] ) ) {
        $found = true; // Set to true
        break; // Stop the loop
    }
}

if( $found ) {
    echo 'Category with ID = 39';
}
else if ($found != $cart_item['category_ids']) {
    echo "Category with ID = 39 and other ID('s)";
}
else {
    "Category with ID != 39";
}

["category_ids"]=>
  array(1) {
    [0]=>
    int(39)
  }
   /// another stuff in the array

["category_ids"]=>
    array(2) {
      [0]=>
      int(32)
      [1]=>
      int(33)
    }