Current loop receiver (minimal implementation)
I_in 0-20mA U_in (-24) 0 - 24V. U_out 0 - 3.3V

That's basically a shunt resistor of value 165 Ω. No power supply needed. This is the minimal implementation. It's a totally viable and accurate solution.

The most frequently found solution was a simple shunt resistor with
the high-side connected to an ADC or connected to a buffer and then to
an ADC. This solution is for me to error-prone in terms of falls
connection or overvoltage.

Well, given that any solution will use a shunt resistor, all you have to do is ensure that it is protected. Protected from what is the next consideration and you haven't said but, given that any solution will use a current shunt resistor you face the same problem whatever route you choose.
Consider adding a 6.8 volt TVS in parallel with the resistor shunt then work out what the threat is in terms of surge energy and what level of protection you need. A reminder: you will have to do this on all and every solution.
As for protecting the ADC or op-amp or DAQ that may follow it, use a 10 kΩ series resistor and check that the follow-up circuit won't fry with a maximum input current of 6.8/10000 = 0.68 mA. OK, with a really big indirect lightning surge, you might need an SMC package device and the peak voltage during the surge might become 10 volts. But that is still only a silicon current of 1 mA and virtually any op-amp or ADC will survive this.
A simple shunt resistor is needed on all solutions so, not using a silicon interface and not using an interface that requires a power supply is fundamentally the most accurate solution.