Sorry, to clarify, I don't have solar panels, just a 2 bank charger running off shore power. But my point is that it charges each 12v battery separately at 12v, without needing terminals disconnected, even though they are connected in series.
In fact they aren't technically connected in series until I turn the trolling motor on, which closes the 24v circuit. When I press the trolling motor's ON button, it closes the 24v circuit to energize the relay that provides the power to the motor. I think this will be true for most 24v setups, as long as they are not separately powering some other 24v device.
Further, I have in the past wired one of the batteries to power a fish finder up front, so that while I was trolling at 24v it was also drawing 12v from one battery.
So, assuming the likely scenario that your setup is similar, I don't think you would need to disconnect your 24v terminals to connect your solar panels individually to each battery. Of course, someone who is actually an electrical engineer might know better