Most of the issues (like "judder") that people have with 24fps are due to viewing it on 60 fps screens, which will sometimes double a frame, sometimes triple it, creating uneven motion. Viewing a well shot film with perfect, expressive motion blur on a proper film screen is surprisingly smooth.
The "soap opera" feel is NOT from bad interpolation that can somehow be done right. It's inherent from the high frame rate. It has nothing to do with "video cameras", and a lot to do with being simply too real, like watching a scene through a window. There's no magic in it.
Films are more like dreams than like real life. That frame rate is essential to them, and its choice, driven by technical constraints of the time when films added sound, was one of happiest accidents in the history of Arts.