Hi @cstiegman123 ,
Thank you for your interest in the NXP MIMXRT product, I would like to provide service for you.
Answer your questions:
1. Should they drive the 24Mhz external oscillator into XTALO (clock out) as this section says, instead of XTALI?
=>Answer:
Please check the information from the RM below:

You can choose one of three configurations. You also can choose way 2, this is also the very normally used way.
2. And, where should XTALI be terminated to through the 18pF cap referenced?
=>Answer: I think, you can choose way 2, then you don't need to add the capacitor, just leave XTALO externally floating.
Wish it helps you!
Best Regards,
Kerry