build

Update docker images to use Ubuntu 24.04 #3427

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Run time

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Job	Run time
lint	32s
unit-test (3.14)	55s
unit-test (3.13)	50s
unit-test (3.10)	57s
unit-test (3.9)	56s
unit-test (3.11)	50s
unit-test (3.12)	1m 0s
unit-test (3.8)	1m 1s
	7m 1s