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The simple explanation:
Class AB: Less efficient, but a LOT less distortion.
Class D: A conciderable amount of distortion, but much more efficient
I can't remember the exact numbers off the top of my head, but a Class AB will be putting out 50 watts for every 100 watts consumed, but sound very very good while doing so. A Class D will be putting out 90 watts for every 100 watts consumed, but will distort heavily while doing so.
In other words, use an AB amplifier for your door speakers, tweeters, etc and use a D for your subwoofers where you cannot hear distortion as well or at all.
Added bonus of a class D, because they're more efficient they produce less heat. AB's tend to get VERY hot.
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