Should I use a lens hood for my EF-S 24mm f/2.8 STM?

Do you recommend a petal lens or a cylindrical lens hood?

Neither. Use the unconventional design that Canon created for the EF-S 24mm f/2.8 STM.

Since a 24mm on a 1.6X APS-C crop body has the same field of view as a 40mm lens on FF, it's the same hood that fits the other Canon pancake lens, the EF 40mm f/2.8 STM.

The ES-52 lens hood:

For how this type of design works, please see: How does lens-hoods for pancake lenses work? (Canon EF 40mm with ES-52)

If you want a cheap knock-off, they're out there too. They claim to be made of aluminum alloy, just like the Canon.