Low cost 1A-5V h-bridge ( MOSFET or BJT)
If you have a great heatsink choose 1A otherwise consider an H bridge rated for 2A.
Rohm is possibly the best source for H bridge motor drivers. From their catalog, I selected
BD6212FP  which is well-stocked at Digikey $2.38 (10)  You still need a PCB and heatsink copper pour of 1sq&quot; per W around each IC.

I can't imagine a better choice for this project.  Read the datasheets thoroughly and follow the training module.