Driving low voltage P-MOS N-MOS half bridge with dead time control, without bootstrap and one control line
From a comment by the OP: -

I want have dead time control to avoid both mosfets be switched at the
same time and also drive 100% duty cycle

Use an anti-shoot-through logic circuit like this: -

This is suitable when the top MOSFET is P channel and the lower MOSFET is N channel. The dead-band produced is roughly capacitance x resistance. Use Schmitt trigger input devices.
For converting to a 12.5 volt rail, there are plenty of MOSFET drivers to choose from made by the usual manufacturers.