It is not posible with no external hardware to create theese waveforms (you don't have negative voltage at any pin. In case you set VDD/2 as zero voltage you need external componets to set. I do not suggest this.)
You can produce this waveform by a transformer in push pull setup .. (use mosfets or IGBT in case you make an inverter)
The drive circuit includes also Gate drivers (totem pole outputs) .
The MCU PWM output center mode is the less important in this setup.
I thinks you didn't get it. To generate modified sine wave, you need to run your PWM hardware in center-aligned mode. In doing so you will have a pin generate the upper half of the waveform I attached to my previous post. Now having two pins generate signals in phase-shifted manner, you obtain exactly what you see in that picture. Now my challenge is just how to make the two signals out of phase. Special PWM chips do that by hardware but I want to use my MCU for other tasks too.