In your diagram, as presented, the NPN transistors won't operate "high-side" as you have drawn.
The extra diode in series with the "on/off" transistor is reverse-biased and would prevent the motor running.
The diode across the relay coil is permanently forward-biased and will blow up (or blow the transistor) as soon as you operate the reversing relay
The limit switches are difficult for me to understand which is where, but seem to require a lot of unnecessary additional cabling from motor site back to the control site.
The usual method is two limit switches, both normally closed, in series, each bypassed by a diode (in opposite directions) such that a closed limit switch will prevent the motor driving further into the limit switch, but will permit the motor to run in the opposite direction.
Finally, you were suggesting your motor could take 5A.
The NPN transistor you have indicated as the stop/start control in your diagram will need to be a darlington, and will need to be mounted on a decent heatsink, with that sort of current, it will get very hot very quickly without one.