The error shows Vec is not an Encode that is required to be as a valid DB value. The Encode doc lists all the Rust types that have implemented the trait. Vec is not one.
You can use the following way to bind the parameters in IN with the values of a vector. Firstly, you need to expand the number of '?' in the IN expression to be the same number of the parameters. Then, you need to call bind to bind the values one by one.
let v = vec![1, 2];
let params = format!("?{}", ", ?".repeat(v.len()-1));
let query_str = format!("SELECT id FROM test_table WHERE id IN ( { } )", params);
let mut query = sqlx::query(&query_str);
for i in v {
    query = query.bind(i);
}
let row = query.fetch_all(&pool).await?;
Please note if the target database is not MySql, you need to use $n, like $1, $2, instead of ?, as the parameter placeholder.