Release/v0.24.0

[hu55a1n1]

Closes: #284

Description

# based on the previous release commit
$ git checkout 42b54613ba5c81b49557a8be46af517eec0b2fce
$ git checkout -b release/v0.24.0
# Cherry picked the tendermint-rs and ics23 update commits.
$ git cherry-pick cae0d5c89187bd9938f389758f05e1cdd76f6c1a e6ed727170cdcda8a5c0a47899dd2e64370bc899

---

PR author checklist:

• Added changelog entry, using unclog.
• Added tests.
• Linked to GitHub issue.
• Updated code comments and documentation (e.g., docs/).
• Tagged one reviewer who will be the one responsible for shepherding this PR.

Reviewer checklist:

• Reviewed Files changed in the GitHub PR explorer.
• Manually tested (in case integration/unit/mock tests are absent).

[codecov]

Codecov Report

❗ No coverage uploaded for pull request base (main@42b5461). Click here to learn what that means.
Patch has no changes to coverable lines.

Additional details and impacted files

@@           Coverage Diff           @@
##             main     #291   +/-   ##
=======================================
  Coverage        ?   64.84%           
=======================================
  Files           ?      126           
  Lines           ?    13852           
  Branches        ?        0           
=======================================
  Hits            ?     8982           
  Misses          ?     4870           
  Partials        ?        0           

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