It's down to the transistors being used in the appropriate configurations. The circuit you show is just a poor design.
Bipolar transistors were used for many years in high power industrial DC drives, until MOSFETs / IGBTs and "brushless DC" types gradually became the preferred types.
The earlier brushless DC systems still used bipolar transistors, sometimes the early ones even had the same power boards as in the normal DC drives, but three half-bridge cards rather than two.
This is an example of a board from a Siemens DC servo - there are two of these plus a control board to make one complete drive; this is a "half bridge", the output can be switched to either positive power or 0V.
Each group of 16 power transistors plus other smaller drivers elsewhere on the board form one massive "transistor switch".
This normally has heatsinks fitted, I took the photo while repairing it after a fault in the machine wiring.
The drive was rated 75A at 200V, if I remember right.
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