I believe that the circuit below can meet your need:

I didn’t carry out a sizing with so much attention. The components are just a suggestion, so you should check the electrical characteristics, and see if they meet your needs.
The OpAmp used is of the rail-to-rail type, so I can get the voltage levels to polarize the MOSFET Gate.
The selected MOSFETs can conduct a current of about 7A, and have a voltage VGS(th) of at most 1 V, therefore, these values end up being suitable since you want to use for voltages of 3.3V to 12V.
Below, I leave images of some simulations, working with 3.3V and 12V as supply voltages:
- 3.3V:
Output switched off
Output switched on
- 12V:
Output switched off
Output switched on
It is observed that the voltage drops are very small in the transistors. When the circuit is turned off, the impedance of the MOSFETs is so high that they end up being like voltage dividers, so that when turned off, the voltage over them ends up being half of VCC.
You just have to be careful only with the type of load you will connect to the output, because if not, there will be voltage in it anyway (MOSFETs do not isolate the circuit, for this, consider using a relay):

Observe the multimeter of the output, the VCC voltage is still there even with the output turned off, due to the impedance of the multimeter in relation to the impedance of the MOSFETs.
I believe that the circuit meets your needs.