Hi!
A lot of commercial and industrial motor drive and servo control amplifier PCBs I have seen at work use opto–couplers between the control MCUs and the motor drive amplifier, sometimes on both sides of the MCU with both input control voltages and the motor control voltages isolated, and I also think many of the purpose made motor bridge drivers are internally isolated between MCU drive pins and MOSFET driver gates as well, precisely to prevent the high peak voltages due to motor parasitics, self inductance etc., etc., getting back into the MCU and damaging it!
As Member "Oxdeadbeef" said, a purpose–made H bridge driver is preferable as these devices contain built in dead–time to prevent "cross–conduction" between upper and lower halves of the drivers, and also precautions to prevent one half or the other "bottoming" or "latchup", and this is why he recommends their use!
Have a look amongst T.I., ST and the other major Semiconductor Vendors for "H Bridge Motor driver" in their "Parametric Search" or "Search By Function" pages – you should find recommended devices and possibly even reference designs to use as a starting point!
In fact, there are similarities in design between full bridge motor drivers and full bridge power supply designs, with the same MOSFET drive precautions being needed for each type of circuit! You can find examples of MOSFET gate–drive circuits in Keith Billing's "Switch Mode Power Supply Handbook" free from the Internet Archive or a few Uni repositories!
If you get mega–stuck I'll see if there's any scrap at my work that uses a full bridge motor driver and if there is I'll draw a bit of it out for you to provide a commercial example of how it's done, but please have a look in the semiconductor maker's pages first!
Chris Williams