How about a single pullup on each open drain output into real inverter chips? 4 hex inverters in an so-8 package will give you 24 channels, and the pullups can be resistor packs. Try to avoid 24 discrete FETS and the extra resistors if you can.
Your transistor solution was switching 24 volts into the drivers inputs. Do you need that much into the driver's front end? I would expect a good driver just uses logic level pwm at the front end and has a separate voltage input pin for the output stages.
If you don't want to use inverters to feed the drivers, then you can put a single pull up on each PWM output, and then directly driving the inputs to the driver IC. All those pullups tie together to a single P-channel MOSFET, with source to your V+, drain to the pullup network. The gate is connect to another GPIO pin to enable the Vpullup . At this point, you have the smallest parts count, but you have to invert your PWM in the software. And you can enable Vpullup once you have setup all the PWM outputs correctly