You could use DC switching relay with magnetic arc blow-out such as the P&B PRD-11DH0- style.
For that kind of duty cycle my preference would either be a 4 quadrant SCR drive which gives you ±10vdc input capability for FWD/REV with one pot.
Or one of the PWM servo drives off ebay such as Advanced Motion 25A8 or B15A8.
Also SCR drives when fitted with a reverse switch have a stop that prevents moving from full forward to reverse and vice-versa.
It is best to allow the motor to accelerate through the drive, not bang it directly in the opposing direction at full voltage.
Al.
CNC, Mechatronics Integration and Custom Machine Design
“Logic will get you from A to B. Imagination will take you everywhere.”
Albert E.