I have now fixed the amplifier. Here is what replaces the module:-
These are the components that I ended up with:-
The CD13003D and the BD238 are both TO126 size and I used that so that I could attach them to the heatsink. I don't know if that helped.
I had originally used a CD13003 for TR1, so that it could be bolted to the heatsink, and I now think that was what made the previous attempt fail. The effective resistance of the voltage limiter (D1, D2, R1, R2 and TR1) is approximately the resistance of R1 and R2 divided by the gain of TR1. The gain of the CD13003 was far too low, which is why I used the BC182. It is placed in contact with the heatsink with some heatsink compound on it.
I also tried a 2N5551 for TR1, but it didn't work. There was a difference of around 1.5 V between the voltage across R1 and across the fixed 1kOhm part of R2. That showed that that there was about 1.5 mA of base current, while the collector current was only about 6 mA. I can't explain the lack of gain, as both the data sheet and a component tester also showed a gain in the hundreds.
Nigel's suggestion of a potentiometer to adjust the quiescent current was very useful.
I didn't try using darlington transistor, as I was worried that the lack of R5 might make a difference. I did look at the Velleman circuit diagram and it seems to show a separate current limit circuit, so there is less risk of the shoot-through current getting out of hand, so I wasn't confident that it would work without a limiting circuit.
When initially assembling the amplifier, I put 10 Ohm resistors as emitter resistors. Having them meant the fuses wouldn't have blow if some mistake were made.
The repair manual, including circuit diagram is at
https://elektrotanya.com/jvc_ja-s22.pdf/download.html which was also useful.