Longest sharp exposure (NPF)
8.8s
Expose up to 8.8 s for pin-point stars. The 500 rule would allow 13.6 s and smear stars over 6.3 pixels.
With your numbers
t = (35·N + 30·p) / f ÷ cos δ (simplified NPF, F. Michaud)
= (35·2.8 + 30·3.76) / 24 ÷ cos 0° = 8.8 s
500 / (f · 1.53) = 13.6 s
Simplified NPF rule (F. Michaud); stars near the pole move slower (÷ cos δ). Use it as a starting point and check your first frame.