Is there a way to connect a remote control directly to a Mini Maestro 24 servo controller?
Is there a remote receiver that outputs an analog voltage that can then be read by the Maestro?
Or do I have to hook the IR receiver up to an Arduino and then connect the Arduino to the Maestro to get it to work?
The Maestro is not intended to directly read remote control signals. I do not know of a good remote receiver that could output analog voltages that the Maestro could read. If you cannot find anything, then you will need to make your own Arduino setup for that as you suggested. You might consider the A-Star 328PB for that.