Back EMF issue with a hbridge driver

Hello!
I made up this circuit on a breadboard. I am using 20kHz PWM signal to switch it, which works fine. Resistive loads work nicely, but when I connect a DC motor to it, things go south.
Here you can see the circuit:


Here is the voltage across my motor. The weird thing on the fall changes shape when I use different size motors.

The motor doesn't spin. What can I do to fix/minimise this?
Thanks!

Hi,
See article on this site about the suggestion of using resistors.

" Discrete H-bridge Circuit For Enhanced Vibration Motor Control - Precision Microdrives "

Looks like the PWM drive pulses have the wrong timing.

What is your plan for "shoot-through"?

Keep in mind that highly trained EEs usually fail, and sometimes spectacularly, on their first few attempts at making H-bridges, which is why forum members strongly recommend to buy commercial H-bridge modules. They actually work!

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Just checked with my oscilloscope the timings of the pulses on mosfet gates. They look good.


(Blue is Pmos gate, yellow is Nmos gate, I checked other two mosfet gates, and they stay completely disabled while the other two are working.)

And resistive loads work good, and they don't have this weird stuff.
I tried to add Gate-Source resistors as @ruilviana advised, that didn't help

Would you be able to put one probe on the motor and one to measure one of the gates?

I made up this circuit on a breadboard.

That is the problem. The tracks have probably burned.
Breadboards are for low power logic circuits.

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