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You could connect speaker output into an external amplifier stage, but you must note that speaker output is BTL. What is the input of the external amplifier? Differential mono?
Yes, that connection seems right.
You will have to evaluate this specific application as the speaker driver is designed to drive relatively low impedance loads, and the input impedance of the class-D amplifier is not a low impedance.
You can take a look at TPA2029D1 in case you need a TI replacement for the class-D amplifier.