Avguru, on what type of system did you A/B the UDP and Esoteric?
I just recently A/B both at a local retailer and came away with the opposite impression. In particular, the bass of the UDP was much more refined with better pitch definition. The Esoteric seemed bloated in comparison. Admittedly, this was on a system with $20k speakers. When we listened on smaller speakers, it was fairly even, imo, but I understand a few preferred the Esoteric.
In terms of the original question, I think it depends on many factors.
1. If you're a videophile, DVI inputs could be important, so the Denon would be the choice. For most though, component inputs are impressive enough.
2. Mods are a great way to get reference level performance for less $$$, but the key is choosing the right modder.
3. I suspect the UDP will be open to mods too by Steve McCormack one day, so that may be a consideration if you're looking long-term.
4. If you don't want to rely on reviews or the internet to make your decision (probably a smart thing). Find a dealer to let you demo a UDP and, if you like it over your stock 3910, buy it. Mods take a leap of faith that you may or may not want to take.