For 20W into 8 ohm, you need at least 18Vp at the output. That requires symmetrical supply to the output stage of at least +-18V.
Also, you should be using an comparator instead of operational amplifier.
V2 needs to be biased to cca 2.5V to make the circuit even work. (or add a 10u cap in seris with R3)
Then you can look on the output stage, and replace the transistors with some half-bridge mosfet driver IC.
With an 18v supply, the max undistorted output into the 8 ohm load is about 5.0W.
If the supply is 36V or plus and minus 18V as was said before then the max undistorted output is about 19.8W.
If you don't care about distortion then your latest schematic can produce a square-wave of 10W into 8 ohms.