Warm Sounding Speakers

A few to consider: Dynaudio, Proac, Sonus Faber, Vienna Acoustics, Verity Audio.

Price? Monitor vs floorstander?
Those questions aside, I'll make my recommendations.
Soliloquy 5.0 monitors. The most natural sounding speakers I have ever heard/owned. I have tried numerous times to upgrade from them but nothing works as well. Never fatiguing, always easy to listen to and I don't feel as if I'm missing any detail. I was reading a review of a dac the other day and the author mentioned the dac seemed a bit bright so he tried it out with his 5.0s which he claimed were intentionally voiced to have a warm sound.
For a floorstand speaker I recommend Meadowlark Audio Kestrel, the original Kestrel and not the model II. Very similar sound to the Soliloquy with just a tad deeper bass.
Both of these speakers image very well also. Also, both speaker companies are out of business so maybe my taste is not what the market likes. I have to say I can't tolerate speakers that I consider "audiophile" speakers with an over abundance of treble energy.

I'd suggest buying amplification for speakers, not speakers for amplification.

I can't believe you'd recommend the original Kestrel over the Kestrel II. The reason there's a Kestrel II is because the original had a power response issue at the crossover point and went into "cupped hands" mode if you weren't directly in the sweet spot. Everything else you say about the speaker (esp, imaging) is true, but I consider that power response flaw a deal-killer. Besides, a lot of good speaker design has come down the pike in the 16 years since the Kestrel came out--better enclosures, better drivers, better crossover designs, better backwave management (e.g., dual ports at different tunings, transmission lines, hybrids, etc.).

Warm, engaging, and in the price range of a Mag 3.6? Maybe a Sonus Faber Liuto floorstander. Or PSB Synchrony Tower, 1 or 2 depending on budget.