Parasound vs Rotel Amps


I have already searched for this but the threads are pretty old. I have long been a huge fan of the Parasound Halo series. I owned a few A51, A52, and recently had tried their "New Classic" line. However, I feel Parasound has NOT updated their technology for a long time. The Halo is pretty much still what John Curl has originally designed. Also their pre-amps are also lagging behind, unlike Rotel which already has the latest Dolby ATMOS and DTS:X.  

Therefore, Rotel has always been my choice for the Pre. I had the RSP 1570, and now the latest RSP-1576. So what's everyone's view on rotel Amps? Do they sound as good the Halo? My choice is either a new Rotel or continue with my Halo. I've looked at many manufactures and it seems like Rotel has the best warranty (5 years). 

I have ML eletrostats for the front an dynaudio audience 42 for all the surrounds. 

Thanks.
angelgz2
I didn't have good luck with the 15 series but it was quite new when I owned the flagship amp, pre-amp and cd player. It was fatiguing to listen to with B&W CM7 speakers and then even with Harbeth C7es-3's. That was quite some time ago, maybe 7 years, so I can't really speak of what they've done since then. Prior to that system I had a NAD integrated that I really liked a lot.
@donjr  

7 years ago the Rotel 15xx series amps are not the same as the current newer 15xx series amps. Which Rotel 15xx series amp did you have? 
@caphill thanks for the detailed feedback. I shall keep going with the Halo A51s then. 

Regarding the latest HT codes though, what other brands has the latest codes? I researched Anthem, Marantz and Denon. It’s true they are early adopters, but those aren’t any better than the Rotel. Also I take customer service seriously as well. Rotel’s warranty service has always been the best for me, plus their 5 year warranty. I’ve looked at Krell and Nad and they are even further behind on the latest codes.
Side tracking question, would a tube amp truly beat the Halo A51 for the Electrostats? I’ve heard great stories but am not ready to drop $3000 for minimum improvement. They sound pretty good as is now.