I think your Marantz SR 7011 is definitely the weak link here. The Marantz 8802a is significantly better in all areas. It doesn’t waste power supply on amplifier boards (since it’s a preamp/processor only). It does actually have true balanced outputs. Technically speaking, the 8802 is single-ended from the DAC chips to the DAC I/V stage. The I/V uses op amps, but the 8802a has fully discrete analog circuits for the output buffer. These analog output circuits actually convert the single-ended signal from the DAC to a fully balanced/differential signal, so the XLR cables on this unit will definitely be superior.
I suppose you could consider the Marantz 7703 if you wanted the new bells & whistles (like HEOS), but you’d be losing some sound quality over the 8802a.
As far as matching amplifier for your Atmos height speakers, I don’t think it’s so critical. In my opinion, the most critical speakers that need to be exactly matched are left/center/right. I actually have completely different speakers for surround (I use B&W Diamond for l/c/r and some Focal speakers for surround). As long as the resolution/character are similar enough, you should be fine. Of course, you wouldn't want to pair something like a McIntosh or tube amp for height speakers. The Parasound A23 should be fine.