Freewheel diodes and shoot-through prevention required on this low-voltage H-bridge?
Here's what I think is going on:  You have three separate issues.  Shoot-through occurs only at the very edge of your switching circuit because of the difference between turn-on delay time and turn-off delay time of your parts.  This is current spike on the pink traces.  If this is the cause, you can easily solve it with a modification to the gate drive circuit to slow down the "on" time so that you always turn "off" first.  However, since this occurs so infrequently, (only when you change directions) you might get away without it.







simulate this circuit &ndash; Schematic created using CircuitLab

The short excursion below ground is from the motor inductance.  Current flows briefly back through the body diode of the FET.

The rest is from your boost inverter, because you have to supply sufficient current to provide torque to decelerate the rotor and accelerate it to the running speed.  If you put an inertial load on your motor shaft (a disk or similar that would act like a small flywheel) you will likely be able to see on the trace that the recovery time of your circuit is lengthened.  The current levels out when the motor is back up to speed.