A 24-foot boxed truck typically has a GVWR of less than 26,001 pounds and is not designed to transport 15 or more passengers. Therefore, a CDL is not required to drive a 24-foot boxed truck in the United States.
However, it's important to note that state and local regulations may vary. Some states may require a CDL for commercial vehicles with a GVWR of 10,001 pounds or more, while others may have different requirements. Therefore, it's always best to check with the Department of Motor Vehicles (DMV) in your state to be sure.