There are other, better topologies for an audio amp, but what you have can be improved without starting over.
As mentioned by JS, R10 and R11 are too large. Starting with your 4 V peak output voltage and the subsequent peak output current, take the transistor gain at that current (from the datasheet), divide that in half for operating margin, and use that to calculate the required base current. 100% of the base current comes from R10 and R11.
You have two opamps plus a 1-transistor gain stage all for a total gain of 6. You can keep C1, eliminate U1 and Q1 (and its parts), and configure U3 for a gain of 6.
There is no DC reference at the input to U1. Now that U1 is gone, add a 100K resistor from the U3 non-inverting input to GND.
Delete R9, C2, and C4. I don't know why they are there, but they make things worse, The output stage needs a low driving point impedance, such as the direct output of an opamp.
The way the circuit actually works, U3 does not provide any base current to the output transistors. It shunts current from R10 and R11 away from the output transistors. For example, in a positive half-cycle, R10 pulls up the Q2 base and sources its base current. for any particular instantaneous voltage, R10 pulls up the base until D1 starts to conduct, which is when the base is 0.7 V greater than the U3 output voltage. To pull the base down, the U3 output goes down, pulling down D1, which pulls down R10 and the Q2 base.
Note that a 741 might not be able to provide enough output current to drive the output stage to the level you want. Still, you should be able to get things closer your desired output.