Well, it's all subjective but...
I have the Thiel 2.7s and love them (Also owned the bigger 3.7s).I actually find my 2.7s to sound rather rich and even "warm" (I'm partial to rich sound - I also own Spendors for instance). Though I'm driving them with tubes, CJ premier 12 monoblocks. They still sound rich even driven by the Bryston 4B3 I have on loan.
Having auditioned the Focal Kanta speakers and and the Magico A3, I certainly wouldn't call either of those speakers warmer than the Thiels.Just the opposite IMO. The Focal will give you a more toppy high end - grain free, but more vivid. They are warm in the bass, but not in the mids/highs IMO.
Magico is very "audiophile" in the sense that when listening you know you are listening to a highly engineered product with very low coloration and box colorations reduced to negligible. Quite detailed. But I found them actually a bit more fatiguing and more analytical than my Thiels.And most of all, to my ears, less dynamic. I played some of my favorite tracks and the palpability and drive seemed to be missing. When I got home and played them on my Thiels that density and dynamic drive was back.
Of course, those are just my own impressions. But it is a little hard to get at what you want, when you mention wanting "warmer" while mentioning speakers that are not known for "warmth" but the opposite if anything.