Nice looking schematics
Some comments, maybe Error 40 from my side:
R4 etc is 20mOhm, guess that is a typo
D1 is zener. Replace with schottky. Zeners are sloooooow, so your gate boost turn of will dripple current through the parasitic cap
R20 is not nessesary, NRST has internal pullup. Normally when using external resistor is should be of 10k or less (avoid glitches)
U2 has abs max 55V, but zener D7 is 56V type, so that won’t protect the module
U4 is is not a rail to rail opamp, so you cannot measure the stage current. Also, you need protection on that input, the motor currents can be negative