Drives have a bathtub curve, but if you want you can be conservative and estimate first year failure rates throughout. So that's p=5/10000 for drive failure. So chance of no-failure per year (because of our assumption) is 1-p. So, chance of no-failure per ten year is (1-p)^10 or about 99.5%

Is that for one drive, or for all 24 drives to survive 10 years?

That's for one drive. For all 24 it's about 88.7%.