You might want to read this thread:
https://www.audiosciencereview.com/forum/index.php?threads/on-dac-linearity-measurement.3754/
This article with illustrations might help too.
https://hometheaterhifi.com/blogs/jj-s-now-and-then-blog-dac-linearity-and-perceived-audio-detail/
Hopefully I'm not going too fundamentally on this. If so, please take no offense, I just don't know which level you are starting out with in your knowledge of linearity.
In a multi-bit PCM digital system, if you start with the largest bit (MSB-most significant bit) it should be exactly twice as high a voltage level as one bit lower. And exactly 4 times the voltage of 2 bits lower.
In the early days of multi-bit DACs there were 16 bits that could be turned on and off in various combinations. It was difficult to make the lower bits the right size. So down at some lower level you might drop down one bit, but the voltage level instead of being 50 % lower, it might be only 30% lower or 70% lower. So when the DAC is playing back a signal these lower bits were at slightly wrong levels which obviously distorts the waveform.
Now over-sampling Sigma-Delta DACs were made for among other reasons because it fixed the low level linearity issue. Most can get relatively close to perfect on linearity. I'll skip over the complex explanation of how they do this. So mostly with modern DACs linearity is a solved problem.
I don't know how to say at what level it is audible or even what it sounds like. Linearity is not important unless a DAC has very poor linearity. Which few do.
Crosstalk is almost never a real concern. LP's which can have good imaging never have better than 35 db crosstalk. It only takes about 18 db for good stereo separation. So a DAC with only 70 db crosstalk would be poor vs others, but still plenty in reality.
SINAD and multi-tone testing will be a better guide to you than linearity and crosstalk.