XLR might be better where ambient electrical noise is high, but requires additional circuitry that may reduce transparency. Terms "Fully balanced" and "Truly balanced" mean something different. True balancing is achieved by means of the input transformer or instrumentation amp, while Full balancing is achieved by dedicating one amp for each leg of the signal with the speaker connected between outputs. These amps should not be independent, because even slight difference in gains would greatly reduce common mode noise rejection. Fully balanced amp does not produce even harmonics while still outputting odd harmonics. I use very short (0.5m) balanced cable. Short, because negative effects of the cable will increase with its length, as Al stated, and balanced because my class D power amp has only balanced input (mature decision). My small Rowland 102 utilizes THAT1200 instrumentation amp. Link below. Gain setting resistors in such amp reside on the same substrate and are laser trimmed to match - for stated 90dB rejection, they are matched to 0.0015%. B&O module inside has already balanced input, as eric_squires mentioned, but input imepedance is only 10k. External amp increases impedance to 48k also providing (most likely) better common mode rejection. Transformers are also a good choice but they slightly distort at low frequencies (may not be audible).
http://www.thatcorp.com/datashts/THAT_1200-Series_Datasheet.pdf
http://www.thatcorp.com/datashts/THAT_1200-Series_Datasheet.pdf