stepper motor driver amp
The circuit won't work because Q7, 5, 3 and 6 are always active unless you have 24V microcontroller outputs. On top of that Q8, 9, 10 and 11 will not be driven reliably, because the emitter voltage varies with current through the stepper's windings.


Convert the 0/5V microcontroller output to 0/24V logic, able to source sufficient current to drive the power transistors.
Use the 24V-logic to control a power stage.
It is really tricky to get a power driver working with emitter (or source when using MOSFETs) at the power rail, tie the collectors to the rail use the power transistors as emitter follower (common collector).