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Add Ubuntu 24.04 binaries, drop Ubuntu 20.04 #56

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RyanGlScott
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Fixes #55.

Mysteriously, GitHub Actions' Ubuntu 22.04 runners have `libreadline-dev`
installed by default, but their Ubuntu 24.04 runners do not, which causes `abc`
to fail to build on Ubuntu 24.04 runners. Let's make sure to install
`libreadline-dev` explicitly to ensure that it is always available for `abc`'s
benefit.
This backports a fix for a CVC4 issue (described in
cvc5/cvc5#10591), which causes bash-5.2 (which Ubuntu
24.04 uses) to spuriously replace uses of ampersands (&) in text replacement.
This patch was accumulated from the following CVC5 pull requests:

* cvc5/cvc5#9233
* cvc5/cvc5#9330
* cvc5/cvc5#9338

Previously, these changes were also included as part of
`patches/cvc4-win64-native.patch` (which is only applied on Windows), but we
now split these changes out into a separate patch so that Ubuntu 24.04 can make
use of them.
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I'm not super familiar with this repo, but this looks reasonable.

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Build binaries for Ubuntu 24.04
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