A kit for a TREAD is around $17 direct from Tangent's shop, but with Mouser parts it will be around $14. The kit is designed for higher voltages, but you only need to change one resistor to allow adjustment down to 5V.
I'll let you know that a regulator that's dropping 8V (32V -> 24V) gets pretty damn hot. A regulator that's dropping 19V would probably get extremely hot... Play around with this
calculator, according to this calculator a regulator dropping 19V (24V -> 5V) would cause the regulator to overheat.