In the light of this, it is a wonder that any Class-AB (conventional) power amplifiers sound any good at all. Historically, it is exactly the problems I have highlighted here which created the term "transistor sound" (used in a derogatory sense of course) when transistor or "solid state" amplifiers first appeared. Despite anything you may read, these problems are caused by the physical and electrical characteristics of transistors, and have never gone away. New devices are far more linear than those of the 60s and 70s, but they are not perfect. Operation at higher quiescent currents (i.e. more into the Class-AB region) will reduce the non-linearity at crossover, but it can never be eliminated altogether - at least not with any devices currently available.
It is fair to say that although the problem cannot be eliminated, the effects can be reduced to such an extent that many amplifiers have almost unmeasurably small levels of crossover distortion. It is not at all uncommon that to be able to see the distortion residual (after the fundamental has been removed with a distortion analyser), it is necessary to use a digital oscilloscope that can apply averaging. The distortion is buried below the amplifier noise floor, and is not visible without the averaging feature. In tests I have performed, listening to the residual noise + distortion reveals that the distortion component (in isolation) is barely audible over the system noise - itself normally below audibility with typical loudspeakers.
So, it is entirely possible to design an amplifier whose distortion at any level below clipping is virtually unmeasurable. Marginally higher levels are commonplace, and it is thought by many that the typical distortion level in most well designed power amplifiers is inaudible under most listening conditions. There are (of course) others who deny this - either because they have done proper comparisons under controlled conditions, because they have hearing that is far more acute than most of us, or because they have been told that they must be able to hear the difference - if they can't, they must have 'tin ears'. Nothing like a bit of peer group pressure to influence one's perceptions.