First, never consider tapping the top of the first battery (directly grounded negative terminal) which is 12 volts. This always places an imbalance on the system and you end up overcharging and shortening the top batteries life considerably.
The best way is to find what the total power consumption of the radio is. If it is in watts divide the watts reading by 13.8 which is actually the ideal 12 volt system voltage. This will give you amps in case the radio doesn't show actual amperage ratings. Then find a 24 to 12 volt solid state converter that is rated for slightly more amps than your radio will use. I have seen them on ebay. Solid state because these converters have circuitry that regulates the output voltage over a wide range of loads.
The next best method, and one I wouldn't recommend is using a dropping resistor. The reason I wouldn't recommend a resistor is that they are great when the load is constant, such as a light or dc motor. But a radio load varies depending on whether it is idle, receiving, or transmitting. This large variation in loading will change the current draw through the resistor and therefore change the voltage going to the radio considerably.
If you think you've found an ideal candidate for your source but are unsure, drop me an message or email me and I can help you out.
Regards,
M376X6