In the context of your initial question about distributing 24 servers across racks to survive rack failure, distributing them across two racks and configuring two fault domains should be enough to survive a single rack outage. The key is to ensure that copies of data (and their witness components) are distributed across the two fault domains capturing these two racks so that losing one rack doesn't result in loss of any data. Hence, option A.
Option D would indeed provide a higher level of redundancy, allowing for the failure of two racks concurrenty without data loss, but under the constraint of trying to "minimize the number of racks used," two racks will suffice to handle a single rack failure.