In the case of PWM, it is necessary to consider whether to use MOSFET or (body) diode for regenerative current.
Many efficient H-bridge ICs provide a path for regenerative current through MOSFETs.
It requires individual control of 4 arms.
Furthermore, depending on the PWM frequency, you will probably use the outside of the audible range, so you need a powerful gate drive circuit.
MOSFETs that can carry a large amount of current have a large input capacitance, and if the gate drive is poor, the switching speed will decrease, causing a large loss.
If you don't use a gate driver, you'll need to lower the PWM frequency considerably, which will generate a lot of loud noise in the audible range.