An amplifier output needs a capacitor in series when it has as a DC offset, e.g. a single push-pull output stage with single power rail. Blocking this DC voltage is important as it can burn out speakers, and even if it doesn't it will degrade sound output.
The PAM8610 is a filterless class D audio amplifier, since both speaker outputs are driven in antiphase there is no DC offset on the output and no series capacitor is required.