The other part of the question....can they be made differential from INPUT to OUTPUT, as many conventional SSs are (ML, Pass,Moon, etc)? Is there a point?
Things are a bit different when you’re employing switching technology, but FWIW the comparitor (which is at the heart of any class D amp) we use is a balanced device. The reason to go fully differential (we’ve been doing that with our tube amps longer than anyone else as far as I can make out, since the mid 1980s) is to reduce distortion and noise. The distortion sources in a class D amplifier are very different from what you encounter in regular non-switching circuits. So the need isn’t the same.