[actions] update ubuntu 24.04 (#7955) #55

Job	Run time
build-emscripten (emscripten)	7m 59s
build-ios-tvos (ios, ios)	9m 19s
build-macos (osx, xcode)	7m 39s
build-linux64-platforms (linux64, 64gcc6)	12m 29s
build-macos (osx, makefiles)	9m 33s
build-msys2 (mingw64)	17m 52s
build-vs2022 (x64)	7m 51s
rpi-build (armv6l, armhf, arm-linux-gnueabihf, 1)	7m 11s
build-vs2022 (ARM64)	7m 55s
rpi-build (aarch64, arm64, aarch64-linux-gnu, 1)	7m 44s
build-vs2022 (ARM64EC)	8m 29s
	1h 44m 1s

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