The output transistors might get hot -maybe better to turn around so their emitters are connected to the supply rails which would allow them to be saturated they could saturate (as well as a Darling can saturate). That might require the use of a couple of transistors to drive them.
Current limit such as in the circuit below would be a good idea.
The LM411 is apparently up to the task as far as output current and speed are concerned but its an opamp so you might have to add a little bit of hysteresis to prevent oscillation when switching output polarity.