OK, so I'm going to prototype the H-bridge and have ordered some parts from Digikey and Amazon. I first ordered some SMD MOSFET's but the first batch I ordered were too small, I mean like 3.3mm on a side. Amazingly though, the the constant current rating is -11A to -15A with pulse to -46A. The RdsON for the P-channel NTTFS3A08PZTWG is 6.7mOhm at -4.5Vgs. I ordered a similar N-channel Si7108DN which has RdsOn values of 6.1mOhm at 4.5Vgs and 4.9mOhm at 10Vgs. Again, the power and current handling capabilities of MOSFET's barely more than an 1/8" on a side is amazing.
But, I realized my mistake in ordering parts that small and then ordered some SOP8 sized parts that should be more workable to prototype. The P-channel version is a Vishay Si7141DP that has RdsON values of 3.0mOhm at -4.5Vgs and 1.9mOhm at -10Vgs with constant current well above the 5A I need. The N-channel one, also SOP8 sized, actually has a bit higher RdsON values of 3.2mOhm at 4.5Vgs and 2.6mOhm at 10Vgs. These two are 1.27mm pitch versus the 0.65mm pitch of the first two and the SOP8 proto boards (DFRobot FIT0290) will work with the latter two parts.
I am just amazed at where we've come with power devices and with such low RdsON values and current capacities of more than 20A continuous in devices that are just about a quarter the size of a finger nail -- wow...
Brian