It is true that knowing both behaviors is important, however Class D output impedance is well within the range of high quality Class A/B amps with feedback.The Class-D output filter is RLC with the speaker providing the R. However, the speaker is not just R, but also has LC components. Like all things audio, the designer has to make choices. Regardless of how well designed the amplifier is, there will be loads with which it will not mate well.
Add in loudspeakers with crappy phase response and things could get ugly in hurry.
I think of it like putting an Indy engine in my motorhome. It's got boatloads of power, just in the wrong area. Put my motorhome engine in an Indy car and it will come dead last in 500 miles, but first in 5000.