Are there any algorithms or alternatives to create short signatures. The algorithm does not have neccessarily have to rely on public/private key. Both parties are ment to be secure and can use the same key if neccessary.
Absolutely; if you want a public key signature (which, when cryptographers use the term 'signature', that's what they mean), then you can consider ECDSA or EdDSA; those can have signatures of circa 64 bytes for "128 bit security" (that is, we expect that it would take circa $O(2^{128})$ operations to generate a forgery without the private key).
On the other hand, you said that you can have both sides share the same key; that means that you can use a Message Authentication Code (MAC), which are even smaller. There are a number known (HMAC, KMAC, CMAC); those can have very long keys, and can have very short tags (what you call a 'signature'; again, cryptographers don't use that terminology to describe the output of a MAC). The size of the MAC is essentially determined by how unlikely you want it to be that someone can just guess the correct tag for a message; if you are happy with making this probability $2^{-128}$ per attempt, you can use a 128 bit (16 byte) tag
My suggestion: if you are happy with both sides sharing the same key, a MAC makes a lot more sense. It's a lot simpler (easier to get right); I would personally suggest HMAC-SHA256 (although there are a number of quite reasonable alternatives avaiable)