24V, 200W DC motor Control using N channel H bridge
Use proper FET drivers.
There is a lot more to driving FETs especially the high side FET than you realise.
Once you have the standard approach working, you can come back to rolling your own with a good reference point and a much better understanding of what's involved.
And be aware that even a real high side gate driver with a bootstrap capacitor can't just be turned on and work continuously. That either needs a supply voltage 10V above your VCC, or it needs to be switched off periodically (as happens in PWM) to recharge the bootstrap capacitor.
I know this is not the answer you want but from your responses so far it's the answer you need.