Boundary reinforcement issues can be addressed by taking them into account in the design stage. So can coloration due to wrap-around reflection energy (by using directional speakers, like the aforementioned Klipsch). The remaining issue is soundstage depth.
One technique which results in good soundstage depth is flush-mounting the speakers. This is often done by high-end recording studios. Precision to 1/8" or better is required, but the result is zero early reflections off that wall, so no corresponding cues are superimposed atop the soundstage on the recording. Note that most "in-wall" speakers have reflective and/or diffractive features which betray the presence of the wall.
Another is to design the enclosure to effectively blend into the wall, so that acoustically it’s like a "bump" on the wall. The midrange/tweeter module of the (sadly discontinued) Snell Type A fits this description, and its downward-firing woofer was close enough to the wall and floor to interact benignly with both of them.
There is another technique for getting soundstage depth with against-the-wall placement which I use in some of my designs. They work better with some spacing, but still imo better than most without. If anyone is curious I’ll describe.
Duke