Jira Server v8.12.2
It is possible to update a story with subtask whenever either a subtask is created or a subtask is updated. Without having to use any non-free plugins
Goal is to use JQL to list all Stories that are 'stuck' that is no updates have been made in the last 24h.
I really doubt there is an option in Jira out of the box that will help you achieve the results you are looking for.
I know you mentioned no to non-free plugins , however the most powerful one that can help you is ScriptRunner
All the best
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