Two problems with a discrete solution:
- potential crossconduction when the input is at 50%
- the P-ch will always see at least -1.7V at its gate
This may work if the FETs have high enough threshold voltage (like >2.5V) and still enough conductance at Vgs=3.3V to drive 50mA.
Possible alternative: something like 74HCT2G04, parallel both sections.