Hello. You might be able to use smaller FETs for the high-side ends of the H bridge if the goal is to reduce cost. But the difference will be minimal for a one-of.
Depending on your current and voltage requirements, you could also use an all-in-one chip to drive the motor directly. These include the MOSFETs and their drivers and have shoot-through deadtime guards, over-voltage/current/temp, under-voltage lockouts. I have used the **broken link removed** with great results. Unfortunally, TI is sunsetting that product.
As for where to put your current sensor, as mentioned here you can place it in series with your motor but you can also put it in series with the power supply. If you put it in series with the motor - on the MOSFET outputs - then you can use a current sensor amp and reference up to, say, 2.5V. So if no current flows, the output is 2.5V. When the motor moves forward, the output voltage is >2.5V. If the motor is reversed, the output of the sense amp is <2.5V. When I did my H-bridge a couple of years ago, I used a current sensor chip but still connected it in series with the power supply to minimize the code needed on the uC. After all, you will likely know if the motor is moving fwd or rev and just need to know what's the A load.
I'm posting the design I used back then as a possible reference, though it can use a tweak or two to improve it. In my experience, the HIP4081A is finicky about how you lay it out on the PCB so proceed with caution. The datasheet and design notes have good info on that topic.
Regards,
JR