That is a very capable AVR, perhaps others are not looking it up
https://usa.denon.com/en-us/shop/receivers/avrx3700h#divSubscribeAs for a dedicated amp(s), separates being better, come on, in a dedicated listening system, in a bigger space, bigger home theater, yes, but that darn good AVR in your space is plenty good enough IMO.
Considering both 5.1 and 2 channel (I do a heck of a lot of this, every day, for many years, using my Sony AVR, blu-ray; cable; youTube; netflix; amazon prime; hulu; viki; music shows Voice/X Factor/Songland/ occasionally streaming Pandora while doing something else ... Sound of my small Home Theater is very important. Both 5.1 and 2 channel. I also have dedicated 2 channel system elsewhere, that's dedicated separates.
You need to improve the speakers, add center, rear surround, and self-powered sub.
Your speakers are efficient, however they dip down to 4 and occasionally 2 ohms, which can be difficult for some amps.
IF you have enough volume, and no obvious distortion, and no weirdness from the AVR, then the Denon is dealing with the 4/2 ohm load.
A. add a center channel speaker (definitely needed for 5.1, off for 2 channel).
Any surround coding records/separates designated sounds for the center channel output. Those sounds DO NOT exist in front l/r, thus a center channel speaker is imperative. I love this very compact Bose center, easy to locate just below the image
https://www.ebay.com/i/233696110070?chn=ps&norover=1&mkevt=1&mkrid=711-117182-37290-0&am...B. Add small rear surround speakers. In a small room, I have used small speakers on their backs, shooting up, using the space between the back of the sofa and wall behind like a horn. There's no real bass, small ones decent efficiency will do. Again, any surround mode, these frequencies/sounds DO NOT exist in the front, center, or sub channels.
C. add a self powered sub to your nice but small bass limited front l/r speakers. And hook the sub up so that it is still working in 2 channel mode which can be tricky.
Self-Powered Sub will accomplish 3 things:
1. take the low bass signals away from the amp, the self powered sub will amplify those frequencies (adjustable crossover needed somewhere, typically in the sub)
2. take the low bass requirement away from the front l/r speakers, so they don't distort trying to make low bass.
3. Their mids and highs will sound terrific when not in a self-made cloud of not so great low bass.
Surprisingly, MUCH Video sounds better in 2 channel mode, even though the cable box/AVR chooses to use a surround mode. Learn how to go from dolby 5.1 to 2 channel to compare, stay there or back to dolby 5.1
IF it was a bigger room, I would either change your main speakers, or add a stereo pair of front firing directional self powered subs, to preserve bass directionality, especially 2 channel.