I think I've tried to answer this very question a couple of times...
Practically, ultimately,
it depends on your speaker impedance and how loud you listen your music (ie output power). Higher-impedance (8+Ohm) and louder (100+dB) would benefit from a higher voltage PS. Low-impedance (4Ohm) and/or lower volumes (80-90dB) would be cooler with 24V (and you would not even need/tap into your high 10A current), yet with similar SQ.
And, after playing with a half-dozen of PS bricks for a TRA3255 amp . With my two 6- and 8Ohm large floor-standing Wharfedales at any reasonable volume in my ~20x20sqft room,
I believe there no subjective difference in SQ between 32, 36, and 48V PS' (sorry I did not try 24V). As I've reported, a higher-PS-voltage (48V) amp runs ~10deg hotter, measured outside the box. Which tells me, that the inside - at the TI chip and its heatsink - might be quite hotter...