Yeah, and that's what I am fishing for. NAD's soft clipping seems (at least on the O-scope trace with sine signal) to work quite alright with softer shape format. And thus wondering if others have similar designs to mitigate too audible / obvious clipping but just don't use it as a feature in advertising.
More often than not those
soft-clipping schemes should be better called
clean-clipping as the transition still is quite kinky, producing lots of odd-order harmonics rather instantly. But at least the transitions into clipping as well as out of clipping are nicely shaped, no "rail-sticking" hangover and no oscillations.
To answer your question, most (if not all) ICEpower ASC series class-D amplifier modules used in some comercial amps show such a nice clean clipping when not totally overdriven. With a proper front end that cleanly clips (and recovers fast) just a bit above the module's clipping point the behavior can be nice and stable.
Perceptually benign soft-clipping must IMHO start quite at bit earlier to have enough headroom for a very round "knee", starting at about 1/2 max output voltage... but that severely reduces "distortion free" output power to about 1/4th. Therefore, we seldom see such behavior, notably not in solid-state amplifiers. It spoils specifications, a no-go. Yet it may sound considerably better in, say, the "student party" scenario: undersized amp cranked into clipping all the time.
All of the above refers regular voltage clipping, the amp running out of voltage. But when we have current clipping (amp running out of steam on low-impedance speakers) things tend to get nasty. Clean and soft over-current clipping is much harder to implement...