Such a MOSFET is probably going to need a gate driver. The gate has to be pulled up to the positive rail, and usually can not be pulled all the way to ground (-20 to -30V is a typical limit).
That said, the BTS7960B is a half-bridge driver, not a MOSFET, and as such not the most sensible replacement for a single relay, which implies you just want to switch the motor on and off. No speed or direction control.