Half H Bridge VGS too high
The circuit I proposed in the comments is this one







simulate this circuit &ndash; Schematic created using CircuitLab

Using the fets as source followers instead of as common drain

My original comment:

"There are many ways to do it but here is a very easy one; I don't suppose you ever want to have both M1 and M2 on at the same time right? so SW1 and SW2 open and close together right? then you can just swap around M1 and M2 so that the bottom one is a p-channel and the top one is an n-channel and then connect their gates together and drive them from one npn-based transistor amplifier like the ones you've got two of now"

But the second one you posted will also work (using voltage-dividers)