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GH-44085: [CI][R] Update Ubuntu version for R force test (#44087)

### Rationale for this change

We want to update the Ubuntu version to run the R force tests in order to be able to test pyarrow once it drops Python 3.8.

### What changes are included in this PR?

Bumping Ubuntu to 24.04 and use virtualenv in order to avoid installing requirements at the system python which fails on newer Ubuntu.

### Are these changes tested?

Yes, on CI

### Are there any user-facing changes?

No
* GitHub Issue: #44085

Authored-by: Raúl Cumplido <raulcumplido@gmail.com>
Signed-off-by: Raúl Cumplido <raulcumplido@gmail.com>