How to setup the NCV7708B h-bridge/double hex driver?
The issue came from the CSB setup time.

The datasheet specifies that (5) from the timing diagram below (Figure 2 from the datasheet) should be at least 100 ns. It is clear from the logic analyzer capture that there was no setup time. 



Using the ESP32 platform with ESP-IDF, this can be adjusted using cs_ena_pretrans.