Update: I rebuild bridge into "unsafe" version from #12 and it kind of works, still no diodes. It do not shortout on power up but it have weird current draw about 150-200mA when active (both sides) and no load. But output do work correctly, seeing +/- 24V there. Biggest issue is that base resistors of PNPs are warming up like crazy when active and both PNP transistors as too. That happens without load and running continuously in manual pulse mode. 220 Ohm seems low to me but I was never good at picking base resistor values.
Current schematic:
This is how should I add diodes?
Thanks guys for help!