So I've now brought myself up to speed on state of the art in class D audio amps. Holy mackerel, it's come a long way since my Class D days. The reference designs available are quite advanced unlike when we used to create the reference designs...LOL! ICs are available to fulfill many of the functions but there's still a lot of work a manufacturer needs to do to make them all work together and play nicely with the electromagnetic field we are all immersed in.

House of the Rising Sone
Out in the mid or far field
Dedicated mid-woofers are over-rated