X-NUCLEO-IHM07M1 Voltage

What is J1? Without any reference to a board and esp. a schematics - who could answer?

If your board does not have any motor driver ICs - for sure NOT.
MCU and board runs with 3V3. And it cannot drive motors, it cannot "tolerate" 24V on any pins, if the board does not have external chips to do so.

Please, be more "precise" on your question (what is your board, what else do you have/want connected...?)

"if J1 is a water hose on your sprinkler system with 24V - you should see a 24V waterflow coming out on J2".

I have the X-Nucleo-IHM07M1 siting on top of NUCLEO-F302R8 as shown attached