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.