The best practice is to read the release notes and see if there are changes that might influence your model. Then do an upgrade and check your model locally. Since you are going from an LTS/MTS version to a new LTS/MTS version most of the time these upgrades work just fine. Do note that I would not go to 9.24.0 but jump directly to the latest 9.24.4.
In addition, you can have a look at this documentations: https://docs.mendix.com/developerportal/deploy/updating-a-mendix-application/