Parasound vs Rotel Amps

I have already searched for this but the threads are pretty old. I have long been a huge fan of the Parasound Halo series. I owned a few A51, A52, and recently had tried their "New Classic" line. However, I feel Parasound has NOT updated their technology for a long time. The Halo is pretty much still what John Curl has originally designed. Also their pre-amps are also lagging behind, unlike Rotel which already has the latest Dolby ATMOS and DTS:X.  

Therefore, Rotel has always been my choice for the Pre. I had the RSP 1570, and now the latest RSP-1576. So what's everyone's view on rotel Amps? Do they sound as good the Halo? My choice is either a new Rotel or continue with my Halo. I've looked at many manufactures and it seems like Rotel has the best warranty (5 years). 

I have ML eletrostats for the front an dynaudio audience 42 for all the surrounds. 

Thanks.