here's a simple amp with loads of room for improvement and tweaking. i "built" it on LTSpice in about 10 minutes, and it ran on the first try with no tweaking of component values. there is a lot of room for improvement on this design, and they're all performance tweaks, not changes to just get it working. but as-is, the amp has 0.1% distortion at full output into 8 ohms.
It's the closest we've seen yet!
Bootstrap R3, add a Vbe multiplier (instead of the diodes) and it wouldn't be bad. A zobel network on the output would be a good idea as well.
But it certainly looks like a fairly practical design.