So what's the body diode for?- just against "normal" every day mistakes of reverse polarity?
Its an unavoidable consequence of a vertical current flow FET - the substrate is the drain, so the
source forms a diode to the drain.
With IGBTs, which are like MOSFETs but have an extra layer for the collector, there is no
body diode as the drain is between source and collector(subtrate).
(some devices incorporate one anyway as they are very useful in power bridge circuits driving inductive loads).
With an H-bridge each MOSFET's diode acts as a free-wheel for the other MOSFET in that leg of
the bridge. This is where the misunderstanding comes from.