The NS3000 and NS5000 are amazingly neutral and fast, but out of these two for near field I would choose NS3000.
I’ve heard these two near-field in all Yamaha setup with Yamaha CD-S2100 and AS-2200. These setups sounded very live front-row seat experience, but even with NS3000 the setup was already powerful enough. NS5000 definitely needed more space to breathe.
Because you listed Kef Ref 1 and Utopia, I believe you are looking for slightly warmer tone? If so, then yes, Esoteric F-03A and a warmer sounding DAC like MSB Discrete would help.
If you want speakers similar in sound to NS3000 and NS5000, consider auditioning Cabasse Baltic, Audiovector R1 Arrete, and ATC SCM100 as well. Slightly more laid back in sound you could get Kaya S12 or Harbeth SHL5Plus.