Increase the turn-off resistors to 220K and the gate resistors to 10K.
Should work in the same way for on/off functionality, unless you're using PWM.
The increased gate resistor prevents any kind of damage on the pocket beagle unless it sees really huge voltage.
There's no problem on driving the P-ch gate without resistor.
The capacitance is very low and the n-fet won't turn on in 1ns, the rising edge will smooth the initial current, and by the time it's fully on the gate will barely hold any charge.
It would be a problem when switching very high frequencies, causing resonances, ringing... But not an issue for simple on/off.
But be clever and put a 10R resistor there, won't harm anything and will allow easy modification for whatever that may happen in the future.