You do know that clipping is not something you hear, right?
Unless you have an amp with clip indicators, you probably don't know clipping is occurring.
Two things to note.
1) My Adcom has clip indicators. When it is allowed to clip continuously, I can get a slap from the speaker on the channel clipping. Very seldom that the speaker will slap, but the amp clips a good bit during high-output such as a concert dvd.
2) In a separate system, my Denon amp delivers double the power my speakers call for. I have gotten a slap on this system, but the amp was not clipping. The speakers were being over-driven.