I have had several Yamaha going back to 2070's with dolby surround back in the 1990's, Marantz (agree with you), Denon, reasonable but still with some of the issues of Marantz, Onkyo then another Yamaha separates. Then Datasat, good but the Dirac could be painful and amps were noisey. That was 1992 to 2015, 7/8 processors over 23 years.
In 2016 I got a Trinnov Altitude 32, even then the set-up (whilst you can make it as complex as you like) was far easier to get a fantastic sound and tweaks via ipad are more straight forward than most would have you believe. Its 2024 and I still have the same 32 in my main room and its just being set up for wave forming. An 8 year old processor that's a 10 year old model. It was not cheap, but I've spent less per year (especially adjusting for inflation) than I did with the others where I was always trying to 'tweak' more out of them. Never even think of that whilst watching the Trinnov, just notice the difference when the next free software update comes in.
I also have a 16 in the front room (where I use wireless stage XLRs to connect to the rears). I do run 9 speakers in the lounge by the flat kefs I use for surround and atmos sit behind curtains front and rear for very AAF situation. If you are considering going to the $10k end. Think about a S/H ex dem Trinnov and I'd anticipate you will still be happy with it in 2032+.