In an unregulated power supply amplifier, like you have and like most of them are these days, as your input (battery/charging system) voltage increases so does the working voltage coming from the power supply in the amp feeding power to the output section of the amp. The winding counts on the power supply transformers is what determine what voltage is stepped up to in the output section of the amplifier to be used as working voltage by the output transistors (mosfets).
If the normal working voltage (rail voltage) is 125VDC+ and 125VDC-, which it likely is in that amp, that means you are normally (when the input voltage to your amp from your charging system is 14VDC) at 250VDC (sum of the + and - rails) working voltage. The mosfets used in most of those amps are 400VDC working voltage. So even increasing the input voltage by 50% (from 14 to 21 volts) which would result in a 50% change in rail voltage would only put you at 375VDC (187.50VDC+ and 187.50VDC-) you should be alright and still within the operating limits of the output mosfets.
However there are secondary auxillary taps on those transformers in the amps and they are rectified and tied into voltage regulators and if you exceed the input working voltage for a voltage regulator you might cause it to go bad or shutdown, or overheat and eventually "not regulate, just pass the working voltage" onto the other parts of the amp like the input circuit, output and power supply drive circuits and protection circuits.
So there are many things to consider.... BUT I can tell you that I have seen many of the more common modern amplifiers run at 19-20 volts without problems. SOME go into protect above 17.2 volts or so, but if you turn the amps on/off you may be able to get it to come on and stay on anyway. Just my experience with them. I think you may get some flack from judges and other competitors if they see you are running over 18V's as that is not allow in some classes. But if you are in a MECA class that doesn't care what voltage you run, then YES, you should be alright charging at 19.2 and leaving the car running while burping, bass racing etc...