Sam, For a couple of decades I worked on steel (hobby) dents on auto bodies. I read every book I could find but never could get the hammer welding down. Then I saw Kent White at OSH in about 2000 and discovered what I was doing wrong. He took the hammer and a dolly and whacked one on the other with a whale of a hammer swing - i just did not know to hit it that hard. Now, you want a hammer off dolly technique, even a wood dolly working from the edge of the dent to the center.
I wish you success, but 2024 is very hard to form compared to 6061T6. A low crown hammer would be a good start. I tried, and failed, on some scrap 2024 pieces to effectively shrink it while removing a test dent, but I never had the "knack".
might be a good reference