Noble, you are describing my experience (although limited) with class D. The early 2000's Elite receiver sounded way better than my 70's Pioneer receivers I had back in the day. I'm sure modern class D has improved even since then.
IMO if you're looking for warm, the Yamaha won't be the answer. I own an as2000 and it is pretty neutral maybe even cool sounding. From what I remember from limited exposure the 3000 is very similar. Marantz is known for a bit of warmth
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