It's easy, OP. Sitting on his bike, your son should have both feet barely touching the ground at the same time (shoe tips, not heels). If he can do this in the lowest seat position on the 24" bike, he's big enough for one.
My 5th percentile 8.5 year old is still on his 20" bike. I suspect it will last him 6 more months, if not a full year.