Handheld Console Amp

Hi All!
I'm incorporating an amplifier into a handheld console I've been developing. I'm trying to keep things simple as the rest of the board has been complex so trying to avoid the need for GPIO to talk to the amp. It takes the PWM signals from a raspberry Pi CM4 through the following driver buffer:
1717701187316.png

Rather than the audio jack I then intend to run the signals through an amplifier (something like a TPA2012D2):
1717701600967.png
The idea is I would then take the outputs to drive two onboard speakers but then when I plug in headphones to an audio jack this is rerouted into the headphones. This can be achieved using a headphone jack like the one in this image:
1717701380947.png

The problem is the outputs from the amp are L+, L-, R+, R- so I'm guessing I need to use some form of op-amp configuration to convert this to a single-ended output. Then I can achieve the above since it will work for the headphones and the drivers.
Am I on the right lines here? Is this a stupid way of doing things? I'm fairly good with PCB layouts and Arduino stuff but for whatever reason when it comes to Pi's and amps that talk over I2C to set everything up my brain switches off.