Well the whole goal of running class AB instead of Class B is to pretty much eliminate crossover distortion by judicious biasing of the output devices and usually also the use of negative feedback. I'm not sure if it can be eliminated to the point where it never appears on a 'scope under any circumstances, probably not would be my guess, though it is worse at lower power, better at higher power. Still, that's a great question for a circuit designer with real tech knowledge. Here's a link to a bit of an explanation of crossover distortion: http://www.electronics-tutorials.ws/amplifier/amp_7.html
I guess the crossover distortion in a Class B or Class AB amp is measured as part of the overall THD spec, so I'm sure, like any departure from linearity, it's audible in some form or another, but it may be so small as to be a tiny component of the sound. You know, no amp is perfectly linear. I'm sure there are single-ended Class A amps with higher THD levels than some well designed push-pull AB amps -- it's just different distortion. With circuit design there are always compromises, it's always a matter of picking your poison.
I guess the crossover distortion in a Class B or Class AB amp is measured as part of the overall THD spec, so I'm sure, like any departure from linearity, it's audible in some form or another, but it may be so small as to be a tiny component of the sound. You know, no amp is perfectly linear. I'm sure there are single-ended Class A amps with higher THD levels than some well designed push-pull AB amps -- it's just different distortion. With circuit design there are always compromises, it's always a matter of picking your poison.