Are you certain your mosfets/transistors are turning on and off fully? Because if your supply is high voltage, then you must bias them with high voltage. This is how you must turn a P-device off. It is also to turn an N-device On if it is located at the high side.
The exception is N-devices located near zero ground... they can be turned on with low voltage.
It is not difficult to generate a low-voltage pulse train. Then to turn it into high voltage, this schematic illustrates a simple way to drive devices located in the upper half (high side) of an H-bridge.
Notice the clock pulses are 5V.
Square waves are easiest to handle, while experimenting.
The load is resistive... also easy to handle.
Normally the lower mosfets should turn on fully. (However the simulator apparently uses unusual parameters for mosfets, and they do not conduct as much current as they ought to.)