My first designs used a dual-channel mosfet called SE3082G, which originally had an internal connection between the drain of one and source of the other, making it very elegant for half-bridge use. But it was the only one of its kind, and was changed to be like all the others where you have to make the connection on the PCB, which either requires a thin trace squeezing between pins as shown below, or utilization of other layers which eliminates the ability to use the back of the board as two fat power rails like I normally do.
I switched to using two 3mm single-channel mosfets since they take up about the same total board space as one dual-channel 5x6mm, have lower RDSon, and have three source pins each instead of just one so there’s less of a pinch point. My Gooser project is similar to your proposal, but with less accurate hall current sensors.
But I’d recommend going with smaller integrated drivers like DRV8316. Discrete mosfets are very much overkill for a 2804 gimbal. From my testing, cheap 40V rated can do about 8 amps continuous without cooling, expensive 30V can do 15 amps. And you can run twice that much current for a little while, and probably continuously with heatsink and fan. Meanwhile your motors will probably overheat at less than 1 amp.