It is necessary to have the good audio gear to begin to hear differences in DACs easily. Common audio gear like Denon, Pioneer, etc do not have the resolution to bring out the differences that we can hear.
If music is background then common audio gear is sufficient for enjoyment of music and most DACs produce decent enough sound.
But if you are really into music and listen to music as a main activity (not doing anything else and focused on listening to music) then it is worth it to seek out better audio gear and better DACs.