The TL;DR version: Positioning the speakers and listener is critical to getting good sound. And perhaps you need to work on that in your LR system.
You can get help from Jim Smith's book and video, Get Better Sound.
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>> The speakers are mounted on upper corners of a wall in our living room 22’ X 16’. <<
Do you mean up towards the ceiling? Mounting speakers on the wall is not recommended for good sound, but putting them above ear level is really not going to sound good. You will not hear any direct treble. Just as bad, Dirac may try to correct that by boosting the treble.
And sound from 20 ft away will inevitably be more blended and less "crisp" (as you put it) than sound in the near field.
Though you may need larger speakers for that room, I think the NAD should do well. It has Hypex amp modules, which can sound great. And 180 wpc should be OK for moderate volume listening.
The dealer may have run Dirac, but it will pay you dividends to learn how to operate it yourself and make changes as needed. If you haven’t already, pay the $99 for the full-range version.
And do get the speakers off the wall, onto stands, and look on the Web or in Jim Smith’s book for advice on positioning them and the listeners.