H-bridge driver board with input for direction

search term add "motor control" and if using aggressively, consider adding surge current load specs and cooling

Since you have loosely defined specs, I assume you don't want cheapest or low efficiency bipolar types and have not specified protection features or budget, I suggest you look for boards with dual half bridges and modify to use better heatsinks or forced air cooling. A good IC is the Infineon half-bridge with vertical P,N DFETS 10, 20 mOhms https://www.infineon.com/dgdl/Infin...fileId=db3a304412b407950112b43945006d5d&ack=t
so search for boards with dual BTS790 and modify to suit your cooling and protection needs.
read the user feedback and do not believe marketing specs like 43A

Semiconductor BTS7960B 5V 43A H-bridge Motor Driver Module

Only US$4.40, buy best Semiconductor BTS7960B 5V 43A H-bridge Motor Driver Module Geekcreit for Arduino - products that work with official Arduino boards sale online store at wholesale price.

www.banggood.com

Sorry, I had no success by searching "motor control"

Something here might suit your needs

https://www.sparkfun.com/search/results?term=h-bridge+motor+driver

Thank You for the link.
Now it occurred to me:
I could dynamically change the pin assignment on the ESP32 board by program, that instead of 2 PWM GPIOs only one GPIO with ledcAttachPin() ist used and the pin for the other direction is disabled with ledcDetachPin() and set to 0 with digitalWrite(GPIO, 0). I still have to experiment whether such a redefining works