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Too little power will not hurt speakers. What do you think happens when you run your speakers at low volume? It's the same thing as running less power.
However, if you have too little power you will be tempted to turn up the volume to the point of clipping. When the signal is clipped the speaker will stay at each limit of its excursion for a longer time which limits cooling, and will have extra average power over time. Clipping can cause thermal failure of the speaker if you get close to it's normal limits. You probably wouldn't kill a decent set of components with your headunit even if you clipped it for a prolonged period of time as they should have enough thermal handling to take it.
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