Can I use MOSFET as replacement for the SSR or EM relay?
VDS depends on the current and the resistance of the MOSFET.
Your RQ7L050AT has a maximum RDSON of 39 milliohms.  At 2 amperes of current, that's a VDS of less than 0.1 volts.
0.1V and 2A is well within the safe operating area for continuous DC.
You've got a Zener diode in there protecting the gate from the 24V.  The NZX84C10L should keep the gate voltage below 11V, so the gate is safe.