I’m running a NAD M23 Purifi Eigentakt Class D amp (200Wx2 into 8 ohms). NAD makes no mention of warm-up requirement or benefit FWIW..
I’ve read it performs best with a few minutes of warm-up although I can’t say that has been my experience. If I truly scrutinize the sound on familiar favorites, I’d say it might sound a bit thin for 5 minutes. But, that may also be what I’m expecting to hear based on conversations like this. Confirmation bias? Perhaps.
Quite honestly, I don’t see why a Class D amp would take long to warm up. It doesn’t have a giant toroid transformer. High quality capacitors and circuitry tend to hold their charge. Class A/B would be far more likely to need a warm-up in my opinion as they are designed to run HOT, compared to Class D which is by design, COOL.
As with all amps containing large capacitors, they can, over extended periods, lose their retained energy. In those cases, some extra time may be needed to recharge the caps. Otherwise, Class D should require less warm-up by virtue of it’s inherent cool-running architecture.

