This is the diagram I created. It is based on Abdullah’s diagram with the addition of PWM, capacitors and a NOT gate. This implementation should drive the motors of one side. Another chip with the same diagram should drive the motors on the other side of the car.
The capacitors will be needed to filter any noise from the motors.
The PWM input would necessary to add variable speed to the motors. If you don’t need it, connect it to 5V.
The addition of NOT-gates is not necessary, but I think I could help reduce the amount of pins used on the micro-controller side.