What means : and not clipped ?
Not driven past the point where distortion increases rapidly with more power, i.e. not asking it to deliver more power than it has.
I imagine that "clipping" refers to the fact that the tops of the waveforms on an oscilloscope start to look flat once you go past clipping, i.e. they're cut off or "clipped", but I haven't looked this up, so don't quote me on that.
I suppose that the exception to this are tube amps ?
that are willingly or not willingly distorted ?
Not necessarily, a tube amp can have more (maybe even audible) distortion without clipping if that's what people want.
Class D should not sound different than AB all else held equal, but audible differences might be possible if the amp in question has a lot of load dependency. Some cheap Class D amps sold today do have some significant load dependency, although mostly in the upper treble near 20khz where most of us can barely hear anything anyway.
In the end, the amp discussion boils down to a tautology, but a useful one. Decent amps that are working and used correctly don't have a sound, i.e. they all sound the same. If an amp has a sound that is audibly different than other amps, it's either a bad amp, or being used incorrectly.
This does not mean it's impossible to find bad amps, or drive them beyond what they're made for, or even to pay a lot of money for a bad amp. It does not mean literally all amps sound the same no matter what you do.
But it does mean that we should not shop for, or hope for, or expect coloration from amps. In 2026 it does not take too much money to get a decent 100w or even 200w amp that delivers transparency.
If you want something other than transparency from your amp, that is OK, but it's not the norm as many audiophiles / reviewers would have you believe.