Upgrade B&W 805D2 to 802D2 or 802D3?

Yes

802d3 was better for me above my 802d2

I’d suggest going to listen to Joseph Audio Pulsars or Perspectives. I got to hear 805 D3s next to Pulsars, and the Pulsars just did everything better. Imaging, soundstage, disappearing act, bass, overall musicality— no contest. The. D3s are good, but nowhere near the best at the price IMHO. My advice, go listen to the Perspectives and I think your questions will be answered. 

Bookshelf speaker vs. Floorstansing is non comparison. 802 have more full detail and range over its smaller counterpart.  I have vintage 805s and 803s,