Update to MAPL 2.34.1, ESMA_cmake 3.24.0

[mathomp4]

This PR updates GEOSldas to use MAPL 2.34.1. The impetus for this is the that we discovered a bug in how MAPL handled 4D variables in restarts when WRITE_RESTART_BY_OSERVER: YES was set. Now in GEOSgcm this is automatically set when Open MPI is the MPI stack (which is true for GNU at NCCS). I'm not sure if the LDAS uses that setting (@weiyuan-jiang might know).

I also don't know if the LDAS has any 4D variables in its restarts, but it is possible if there are 2 ungridded dims in a variable (since I assume 🤷🏼 that the LDAS is mainly 2d variables discounting ungridded dims).

Also, this will bring in MAPL 2.34.0 changes as well. Per the release notes, I don't think anything in 2.34 directly affects the LDAS, so I'll mark this as zero-diff, but @biljanaorescanin will of course test.

Also also, I'm updating ESMA_cmake to 3.24.0. Per the changelog, this is very minor.

[gmao-rreichle]

Thanks, @mathomp4, for keeping us current. I am running the tests now, @biljanaorescanin is away.
I don't think we have variables with 2 ungridded dims, and I don't expect any of the changes will impact the LDAS.
With any luck, we'll know for sure by the end of the day.

[gmao-rreichle]

All tests passed. I'll go ahead and merge.