Which motor driver to choose?

I am trying to find the right motor driver for my project:

Two equal motors, brushed, 24V 0,5A to run, 2-3A to start, only running one at a time.

“Soft start”, so a motor does not draw more than 1A.

On/off control from ESP32.

Current feedback to ADC, to see if the motor is pulling heavier.

Fault feedback.