I agree with dbphd’s first response, suggesting that you contact Richard, but not with the first part of the second response.
While there may be a few amplifier designs for which that would work, with most designs it would definitely not be a good idea. In many and probably most amplifier designs which provide balanced and unbalanced inputs, one of the two signal pins on the XLR connector is internally connected directly to the signal pin on the RCA connector. When the balanced/unbalanced switch in those cases is set to unbalanced it simply shorts the other signal pin on the XLR connector to ground, so that the amplifier’s input circuit which receives that signal is not left in an unconnected and uncontrolled "floating" state. And when the balanced/unbalanced switch in those cases is set to balanced the switch does nothing.
The fact that the specified input impedance of the A21’s balanced inputs is exactly twice that of its unbalanced inputs reinforces the likelihood that it is designed in that manner. As opposed to having separate input stages for the balanced and unbalanced inputs, with the switch selecting which of those input stages is connected to the rest of the amp (that being what dbphd was apparently envisioning) .
Assuming the design is as I suspect, the result of connecting to both inputs at once would not be harm to the amplifier. But it may very well be harm, eventually if not sooner, to the AVR and/or the 851D, since their outputs would be shorted together. And at best the results would definitely not be optimal sonically.
But contacting Richard, as was suggested, certainly can’t hurt.
Regards,
-- Al