So you supply varies from 21-28V, and you need an adjustable output from 8-24V, but the output voltage never needs to exceed the input voltage--did I understand that correctly?
If it's to drive a motor of some sort and you don't need to boost the voltage, can you just use PWM? That's a heck of a lot easier than trying to provide a regulated voltage at 8-10A.
If you need a regulated voltage, I think the only low part count solution would be an off the shelf DC-DC module, but I don't expect that modules with such a wide adjustment range at that power level are common (or cheap).