But has true Class B ever physically existed or just slightly overlapping AB, virtual Class B? Does an Class AB amp ever go into true Class B?
Yes, class B amplifiers existed and still exist today, though generally not for audio applications.
@pma posted a true class B audio amplifier circuit earlier. Class AB means an amplifier that "moves" from pure class A to class B as the signal gets larger so the "other half" of the circuit is no longer involved but, as a class AB design, the "off" half still has bias current. You could argue it never goes into "pure" class B because there is always standing bias current in the "other" half of the output stage; that is what makes it class AB and not class B. Leakage current is usually very tiny and neglected as it is not enough to actually cause the devices to enter normal operational mode.
This is my ancient copy-and-paste on amplifier classes FWIW:
Amplifier Classes
Here is a summary from memory so don't hold me to any mistakes:
Class A = bias current flows through the output devices all of the time. Most wasted energy and heat, max theoretical efficiency ~50% for a push-pull design (only ~27% for a single-ended design IIRC). Commonly used for low-level circuits like preamps and power amp input and driver stages, rarely for output stages since it is so inefficient. More common in tube amps these days, I think.
Class B = bias current flows half the time, so in a push-pull design one device is on and the other is off. Typically one device amplifies the (+) half of the signal and the other the (-) half as it swings around ground (0 V, or a common bias voltage). Can achieve ~67% (SE) to ~78% (push-pull) efficiency in theory. In practice there is crossover distortion around the crossing point as one device is switched off and the other turned on since it does not happen instantaneously. Used for some power amplifiers in the past (do not know about today), with feedback used to reduce crossover (and other) distortion.
Class AB = biased in class A for small signals then moves to class B. This lets small signals around the crossing point stay in class A for lower distortion, then as the signal increases and moves out of the small signal region transitions to class B to save power.
Class C = bias current flows less than half the waveform cycle. The "missing" energy is usually generated by a resonant circuit (e.g. inductor/capacitor (LC) tank). Common in RF circuits where high power is needed and distortion less an issue, and oscillators which are narrow-band (audio is very wideband, spanning multiple decades) and incorporate a resonant circuit by design.
Class D = bias current flows only as output devices switch states, in a form of pulse modulation (pulse width, frequency, or both). Can achieve >90% efficiency. The high switching frequency is provided by a clock source or (for most audio amps) is self-generated by the circuit. The output pulse train is filtered so only the fundamental signal remains. See
https://www.audiosciencereview.com/forum/index.php?threads/class-d-amplifiers-101.7355/
Class E, F = utilize switching as well but constrain the switching to certain points in the signal cycle (e.g. at voltage or current zero crossings) for higher efficiency since less power is dissipated in the switching transistors. These are used exclusively in RF circuits AFAIK. Class E is used in tuned amplifiers (narrowband, again) and class F is used for generating harmonics of the fundamental so you can say build a high-frequency oscillator output from a lower-frequency circuit.
Class G, H = wrap a varying power supply around the core (typically AB) amplifier to improve efficiency. By changing the power supply voltages it uses (wastes) less energy for small signals by applying low supply voltage, then increases the voltage as required as the signal gets larger. Class G uses discrete rails so the power supply switches between two or more (high/low) voltages. Class H uses a tracking supply that varies continuously with the signal level.
There are some more esoteric classes I am not familiar with. I have only designed and worked with the classes above.
HTH - Don
Edit: Found a Wiki page that probably does a better job than I but I didn't read it:
https://en.wikipedia.org/wiki/Power_amplifier_classes