I have heard warmer Class D amps before. Nuprime makes warm amps and they have a chart comparing the warmth of all their amps. People seem to love their gear.
I had a Marantz PM-KI Ruby integrated that was warm with a very liquid, warm mid range that was just fabulous. It imparted emotion to the music and it had a romantic sound. It was just lacking a little detail, otherwise I would still own it. Its sound reminds me of the 70's Pioneer receivers (own a Pioneer SX-780 that sounds fabulous). The Ruby has a vintage sound to it. Unlike my Levinson integrated which has a modern sound.
Read this article about NuPrime's hybrid Class D amp designs that put them on par with the best Class A and Tube amps.
nuprimeaudio.com