DRV8718-Q1: PWM duty cycle problem

hi team,

We found the following problems when using  DRV8718, please also confirm:
Description: The H-bridge PWM drive frequency is 20khz, the low side PWM drive. Acquire the waveforms on the pre-drive PWM inputs and PWM outputs to discover:
1, with an input PWM of 50% duty, the output waveform cannot reach 50%. Please help analyze the reasons.
2, low side ON, the process will have a voltage step, such as the following figure red circle. Please help analyze the reasons.

PWN IN and low side MOS Gate

PWM IN and High side MOS-Gate

the follow is the attached schematic:

e2e.ti.com/.../PLG_5F00_ECU_5F00_Sheet_2D00405CE890_.pdf