Well with the measurements you gave me, that cap is part of the 5V rail. So a 6.3v cap or a 10v cap would be fine. But if it were me, i would get a 33uf at 16v.

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I replaced them with 33uf, 25v: given the power supply is at 24 volts, you're 100% sure it works.

I have recapped all my Duo's a while ago and use them regularly without problems. Always use a higher voltage when you're not sure.