Look at this simple one for brushed motors I used in a recent tutorial... Q3/Q4 are level shifters/drivers for the Q1/Q2 P-channel MOSFETs but functionally and logically are the same as your upper Q1/Q2 N-channel MOSFETs. Note the truth table...

 

@Dragonoid You might find this new online training course from TI interesting.... although its about chargers a lot of the discussions are applicable to the motor drive too.
How to design multi-kW DC/DC converters for electric vehicles (EVs)

 

@Dragonoid You might find this new online training course from TI interesting.... although its about chargers a lot of the discussions are applicable to the motor drive too.
How to design multi-kW DC/DC converters for electric vehicles (EVs)

Thanks for the Link,
I got my phase PCB and I have populated them for initial testing.