bump k8s version to v1.24 (#2529)

[ti-chi-bot]

This is an automated cherry-pick of #2529

First-time contributors' checklist

• [x] I've signed Contributor License Agreement that's required for repo owners to accept my contribution.

What is changed, added, or deleted? (Required)

bump K8s version to v1.24, as we bumped the k8s Golang mod to v1.28 (and k8s v1.24 is also End of Life)

Which TiDB Operator version(s) do your changes apply to? (Required)

• [x] master (the latest development version)
• [x] v1.6 (TiDB Operator 1.6 versions)
• [ ] v1.5 (TiDB Operator 1.5 versions)
• [ ] v1.4 (TiDB Operator 1.4 versions)
• [ ] v1.3 (TiDB Operator 1.3 versions)
• [ ] v1.2 (TiDB Operator 1.2 versions)

What is the related PR or file link(s)?

• This PR is translated from:
• Other reference link(s):

[Oreoxmt]

/approve

[ti-chi-bot[bot]]

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