The Esoterics I've owned, while good performers overall (especially the X-01, which was highly modded), just did not engage me over the long haul. My Marantz, on the other hand, has.
When I've listened to the two manufacturers back to back, it sounds like two companies with two totally different conceptions of what live music sounds like. Neither conception is wrong, per se, but IN MY OPINION, Marantz's idea of live sound, as engineered into their Reference-line products, is closer to what I hear when I go to a concert.