Controlling a Brushed Motor with DC Voltage to Avoid EMI (no speed control needed)
[edit: assume electric-field coupling between the 24 volt PWM wires, onto the low_level analog. Assume a HIGH_PASS FILTER: a series Cap into a shunting resistance (the R_sensor, or R_source of the analog signal) to Ground.
Edit:We compute the edge_speed of the PWM, to reduce the 24 volts down to 0.001 volts, using the High_Pass Filter to do attenuation.]
Let us model the trash injection from fast-edge PWM signals, into the sensitive low_level analog.
Assume 10pF per foot between two wires (coax is about 100pF/meter).
At 150 feet, there is 1,500pF of electric_field energy storage.
Assume the low_level analog has 100 ohm resistance.
What slewrate (rise and fall time is permissible, in 24 volt PWM lines?)
For 1 millivolt induced noise into the analog, with 100 ohms, the limit is I = V/R = 0.001/100 = 10 microAmps.
Now we just compute the edge_speed (you might use L+C filter to slow down the edge from a motor driver, to have a SLOW edge out on the cable).
dV/dT = I/C (which comes from Q = C * V, and differentiate to get I = C * dV/dT

dV/dT = 10uA/1.5nanoFarad = 1e-5/1.5e-9 = 0.7e-4 or 7,000 volts per second.

And the actual rise or fall time needs the 24 volts in the math

Trise or Tfall = 24 volts / 7,000 volts/second = 24/7,000 seconds

And Trise or Tfall, to induce only 1 millivolt on 100 OHM_resistive line

Trise, Tfall = 0.01 * 24/70 or about 3 milliSeconds

To have a PWM produce pulses that slow will be VERY INEFFICIENT (causing lots of heat).
But you can impose an L+C filter (series L, then shunting C, then the cable to the motor). You will need a Damping resistor in parallel with the inductor.
{edit: the suggested solution is

efficient PWM driver with perhaps 100 Hertz pulses of variable duty cycle

a L+C filter, to reduce the edge rate to 3 milliSeconds, located between the Driver and the 150 foot wiring

the unavoidable large capacitance between the PWM wires and the low_level analog wires

the sensors producing the low_level analog signals, with *ASSUMED output resistance of 100 ohms or less