Actually Georgehifi, YOU made the claim the the output of Class-D is not recognizable, and then you compared the switching residue internal or external,Go back and read a bit more carefully, please🤦‍♂️.
If the Class-D output filter is removed, then "input test signal" (not switching noise as you say) is not recognizable at the output terminals because of the switching noise monsters it.
With the filter in place, it still sad with residual switching noise, but recognizable, as to what’s going into the input.