Bump minSdk to 24

[emilypgoogle]

Adjusts testing config and minSdk variables to use Android 23. Not to be merged until the next breaking release.

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[milaGGL]

/gemini review

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Code Review

This pull request updates the minimum supported Android SDK version from 23 to 24 across several Firebase modules, simplifying codebase logic by removing legacy API 23 compatibility paths and associated tests. The feedback highlights that in multiple firebase-storage test files, switching to Config.OLDEST_SDK targets an API level lower than the new minimum SDK of 24. It is recommended to explicitly pin these tests to sdk = 24 or remove the sdk parameter entirely to avoid running tests on unsupported platform versions.