The problem
It is not related to (NPN) transistor - neither that the transistor cannot sink current, nor that the base-emitter junction is "on" at Vs > 10 V, nor that it breaks down when it is reverse biased at Vs < -5 V. These transistor phenomena are interesting in themselves, but in this case they are details which distract us from revealing the main idea.
Short answer
The problem is purely electrical and related to rheostat and potentiometer devices when split supplied. Its essence is that the simple 1-transistor amplifier stages (like the AOE emitter follower) are implemented as imperfect "potentiometers" in which only one of their parts is a variable "resistor" (transistor) and the other is a constant resistor. When the transistor is off, the resistance of the constant resistor remains and forms a voltage divider with the load resistance. As a result, the output voltage cannot reach the power supply rails.
This problem is solved in complementary transistor stages implemented as true "potentiometers" in which both parts are variable "resistors" (transistors). When the one of transistors is off, the other is on and no voltage divider with the load is formed. So, the output voltage can reach the power supply rails.
Building the circuit
Let's take a closer look at this phenomenon by mentally transporting ourselves to the 19th century where there were no transistors and tubes, only constant and variable resistors. I will do this here using my favorite step-by-step building technique.
STEP 0: The task
It is to make a device that can regulate the voltage within the limits of the power supply. In electrical circuits, such devices are called "potentiometers"; in electronics they are called "amplifiers".
STEP 1: Unloaded variable resistor
Positive supply voltage 10 V. The first idea that comes to mind how to get a variable positive voltage is to include a (1 k) variable resistor (R1 aka "rheostat")) in series with the supply voltage source (V+). After runnig the DC simulation below, we hover the mouse over the resistor or output and set various values of the resistance R1 by the CircuitLab parameters. We see what we expected - whatever value of the resistance R1 we set, since no current flows through the resistor, there is no voltage drop across it and the output voltage is equal to the supply voltage. Figuratively speaking, the resistor has easily "pulled" the output up to the positive supply voltage.

simulate this circuit – Schematic created using CircuitLab
This configuration corresponds to an emitter follower implemented by an NPN transistor (acting as R1) with "open emitter" (without a resistor connected in the emitter).
Negative supply voltage -10 V. Similarly, to get a variable negative voltage, we include a (1 k) variable resistor (R2) in series with the negative voltage supply (V-). As above, we see that when varying R2 the output voltage does not change and stays equal to the supply voltage. Figuratively speaking, the resistor has easily "pulled" the output down to the negative supply voltage.

simulate this circuit
This configuration corresponds to an emitter follower implemented by a PNP transistor (acting as R2) with "open emitter" (without a resistor connected in the emitter).
After the two experiments, we conclude that it is not possible to change voltage through only one (pull-up or pull-down) varying resistor; there is a need for another resistor "pulling" the output in the opposite direction.
(By the way, the US "zigzag" resistor symbol is very suitable for such an analogy because it evokes the association of a stretching spring.)
STEP 2: Loaded variable resistor
Positive power supply. The problem is solved if the load (RL) has some resistance (1 k) so a current flows through the variable resistor R1. The load acts as a "pull-down" resistor that, in combination with the "pull-up" R1, forms a voltage divider.

simulate this circuit
If we run a DC sweep simulation where, for example, R1 varies from 0 to 10 k, we will see that the output voltage varies from V+ almost to 0 V. The curve is non-linear, but that does not matter in this case.

This configuration corresponds to the NPN emitter follower with a resistor load in the emitter.
Negative power supply. Similarly, in the negative voltage supplied configuration, the load acts as a "pull-up" resistor that, in combination with the "pull-down" R2, forms a voltage divider.

simulate this circuit
In the DC sweep simulation, R2 varies from 0 to 10 k and the output voltage varies from V- almost to 0 V.

This configuration corresponds to the PNP emitter follower with a resistor load in the emitter.
STEP 3: Imperfect "potentiometer" unloaded
When there is no load connected (open circuit) or it has extremely high resistance or just in case, it is a good idea to connect a constant resistor R2. Thus we have assembled an "imperfect potentiometer" by connecting a rheostat and resistor in series.

simulate this circuit
This configuration corresponds to the NPN emitter follower without an external resistor load connected.
When running the DC sweep simulation, we see that the output voltage almost reaches the negative supply rail.


simulate this circuit
This configuration corresponds to the PNP emitter follower without an external resistor load connected.
Now the output voltage almost reaches the positive supply rail.

STEP 4: Imperfect "potentiometer" loaded
But if we connect a load (this configuration corresponds to the NPN emitter follower with an external resistor load connected)...

simulate this circuit
... another problem appears - we cannot reach the negative rail only by increasing R1 even up to infinity (open circuit) since R2 remains and forms another voltage divider with RL.

Similarly, in the configuration corresponding to the PNP emitter follower with an external resistor load connected...

simulate this circuit
... we cannot reach the positive rail only increasing R2 even up to infinity (open circuit) since R1 remains and forms another voltage divider with RL.

We can somewhat solve the problem by enormously reducing the resistance of the constant resistor, but this will enormously increase the current. We need some smarter solution...
STEP 5: True potentiometer unloaded
We easily arrive at the clever idea to make both resistors variable and change their resistances simultaneously and in opposite directions. In the 19th century, they called its implementation "potentiometer" and now we call it "complementary stage".

simulate this circuit
What a great idea! When we move the wiper, the total resistance and, accordingly, the current remain unchanged; only the output voltage linearly changes... and what is most important is that the output voltage reaches the supply rails. Let's see it in the DC sweep simulation where we set as a linear changing parameter the position of the wiper (transfer ratio 0 < K < 1).

STEP 6: True potentiometer loaded
Now let's load the true potentiometer. I have set three values of the potentiometer resistance R.P (100, 3.3 k and 10 k) as a second parameter in the DC sweep simulation to see its impact.

simulate this circuit
As you can see, the transfer curve is completely linear at R.P = 100 ohm since the (1 k) RL impact is negligible then. And again, what is most important for us, is that the output voltage always reaches the supply rails.

Returning to the present
Having uncovered the basic idea in the 19th century electrical realm we can return back to our 21st century electronics realm and investigate the transistor implementation - how a base-emitter junction transfers the input voltage (when > 10 V) directly to the output of the emitter follower, what happens when the junction breaks down (when Vin < -5 V), etc.