Those modules with the gate drivers turn up in all kinds of inverter products, both as a final-stage for an inverter with a high-frequency DC-DC, and as the first stage of an inverter with a low-frequency transformer. Be aware that by default those boards don't connect up all the protection features (like overcurrent) that the ES8010 offers. Boards like the one I linked that contains one of those modules and some output FETs are much less common, but probably won't do the power output you need anyway.
It can work without an explicit filter, but to do so well the transformer has to be carefully chosen (or more likely in a commercial product as this chip is intended for, designed) for the right amount of leakage inductance low core loss at the switching frequency, etc. If you add a filter it's everything (including the filter) is much less dependent on the transformer characteristics, the 3.3 mH / 2u2 filter on the preceding page is probably fine as a functional waveform-reconstruction filter.
EMC is a rather separate issue and may require additional filtering at input an output, but this would be at higher frequencies and could use more modest component values. Be aware that (with any inverter) unless you add a lot of bulk capacitance to the input, and maybe a low-frequency inductor, your DC input waveform will mostly consist of 100 Hz ripple. Prius batteries probably won't complain too much about that, but the rms will be higher than you expect so be careful when sizing cables.