If you’re looking for low current relays, there’s a thing known as a “small signal relay” that is cheap, small, can be driven directly by a GPIO pin by most microcontrollers (use ~10mA or so), and sometimes/often have integrated diodes for suppressing the back EMF.
If you don’t need galvanic isolation, I’d just use a FET. Here’s a neat trick for level conversion:
[ol] Hook the FET’s source pin to the Gadgeteer pin. Hook the gate to 3.3V, and hook the drain to your 24V input/output.
Put a pull-up resistor on the 24V logic, pulled up to 24V.
Place another pull-up resistor from the Gadgeteer pin to 3.3V.[/ol]
The best part is that it’s inherently bidirectional. We use it for i2C all the time.
You can’t draw any appreciable amount of current on the 24V side (otherwise your pull-up will start drifting to ground), but that’s only a problem if your 24V stuff has a low input impedance.