I then found upon this application note[2] which states a full-bridge class D shares the benefits of a traditional bridge tied load[3] amplifier, like not requiring DC blocking capacitors.
Not sure how common this is, but clearly blocking caps is not something to be assumed.
[1]: https://www.ti.com/product/PCM5102A#product-details##feature...
[2]: https://www.maximintegrated.com/en/design/technical-document...
[3]: https://en.wikipedia.org/wiki/Bridged_and_paralleled_amplifi...
Now what happens if there is an input offset, such as a constant stream of input words other than zero? That's where the system designer has to take care of things. And there are offsets even when blocking caps are used. The caps only prevent compounding those offsets from one stage to the next.
And a certain amount of offset won't kill your speakers. It just has to be kept within reasonable bounds.
I've noticed when using the audio input of a PC for measurement, that there is a constant offset, which is just an artifact of the ADC. The audio recording software has a function for removing that offset. In fact I would consider an audio recording with a large residual offset to be a poor engineering practice.
Often, switchmode amplifiers with BTL output have a large normal mode offset, so they can be powered by a single supply. And single-supply audio circuits tend to be festooned with blocking caps. ;-)