Hi Łukasz,
unfortunately we do not have a designed a H-bridge driver specifically for the 24V applications. Although the mentioned can be used in the 24V application, you need to make sure, that the operating conditions will be not exceeded for proper operation and that the maximum values are not exceeded in order not to damage the component. These parts are usually used in 12V applications.
I have picked for you devices from our powertrain and engine control portfolio, which are designed and recommended for the 24V applications. Please check them.
MC33PT2001 MC33PT2000 MC33937 MC33816
The MC33816 is a solenoid controller, perhaps this one will be suitable for your application?

With Best Regards,
Jozef