Background : Class-D output is mostly used to drive the speaker, and emission audio signals. DRV2605/L has the capability of acting as transformer from audio to haptics. someone may wonder whether the Class D output can be used as audio source to Audio-to-Haptics of DRV2605/L.
Answer : NO.
Reason : We will need a low-pass filter to filter the class D output signal. And Class-D are also power amplifers, so it will try to drive the filter and burn a lot of energy in the process.