code 24 is a left motor faulty current sensor Like Adams1 said. Its a rare occasion so as he suggested i would do the same.

Check all wiring for the current sensor, also one of the first things i would check is the sensor wires at the LH drive motor and make sure they are connected and not damaged. (there are 4 wires going to each drive motor, the colors are possibly BrW, LO, GR and GL). Sometimes these colors are not exact because of harness changes made over the years but the troubleshooting diagram i'm looking at suggested those colors.
Without a truck serial number i cannot be 100% accurate.
The logics connector wire or pin number location your needing to check is 47, 48 and 52 at the CN2 connector, L armature current, current return and +15v. There is a pin 3 on the current sensor that runs to ground. Wire/pin 47 runs to pin2 on the CS2, wire/pin 48 runs to pin 1 on the CS, and wire/pin 52 runs to pin 4 on the CS.

And while your checking things, remove the logics card and check the drive boards connections underneath, inspect it for anything abnormal, remove that and check the H-bridge for abnormal issues like bad connections or burned components.

It's highly unlikely there is a bad CS or logics board but not impossible, i would guess it is a bad connection in wiring either at the motor or maybe the logic harness or a possible burned diode on the underlying diode board(H-bridge) under the logics and drive board.

I've replaced many a drive H-bridge board because of customers running a machine in a low battery charge state too often which overheats the board and burns up the diodes. This can trigger a code 24.

good luck