I always reply to PINGs with PONGs. And as you can see from the Wireshark screenshot below, the server closes the connection after 7650 seconds (126 minutes) since initiating the connection.
Even when I subscribe to only one stream(https://fstream.binance.com/stream?streams=btcusdt@bookTicker), the server closes it. However, it lasts longer, 20190 seconds (5.6 hours), still nowhere close to 24 hours mentioned in the documentation.