build

Update docker images to use Ubuntu 24.04 #3359

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Run time

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Job	Run time
lint	31s
unit-test (3.9)	57s
unit-test (3.14)	54s
unit-test (3.8)	51s
unit-test (3.10)	53s
unit-test (3.12)	51s
unit-test (3.11)	46s
unit-test (3.13)	52s
	6m 35s