How can we transfer the full voltage swing across the load?
The correct question is: How can we make the output impedance much less than 8 ohms?
A quick "back of the envelope" calculation for the small signal impedance looking into the emitter of Q3 is:
\$r_e > \dfrac{V_T}{I_E}\$
You want the output impedance to less than 1/10 the load in order to lose less than 10% in the output impedance.
Assuming \$V_T = 25mV \$, you want:
\$I_E > 10 \ \dfrac{25mV}{8 \Omega} = 31.25mA\$
For \$V_E = 12.5V\$, you'll need to reduce the value of R9 to less than or equal to 400 ohms.
Now, that's from a small signal perspective. From a large signal perspective, consider that this circuit will be able to pull the output voltage towards 25V easily through Q3 but, pulling down the output voltage to 0 volts will be through R9 rather than through Q3. Your output will not swing as far "down" as it will "up".
In your previous output circuits, you were using a push-pull configuration. Why did you switch to single-ended output?