I’d advise getting the best Marantz AVR that you can for $1k, if that is your budget. Marantz revs models yearly, so the $1k list price AVR will be available for $600 at some point - that’s what I did for my main H/T system (SR5012). Similarly, the $1.5k model (or whatever) will probably be available for $1k at some point. As I recall, the differences between these levels are primarily associated with the number of amplification channels and supported decode logic for Atmos or regular Dolby surround, and to lesser extent with wpc. I only needed seven channels for my setup, so the 5012 was perfect for me (by now that model is probably called the 5014 I’d guess).
I believe Marantz and Denon are sister companies and have similar product lines, but some dealers will tell you that Marantz gets slightly better component parts than Denon and that at comparable levels to go with Marantz (that said, I’m sure there are others who advise just the opposite). I can’t speak to Denon, but have been very happy with my SR5012 powering a 5.1.2 Atmos system (B&W front stage; Speakercraft height speakers (in-ceiling), Paradigm rear surrounds; Energy sub).
My other relevant experience is with Integra, the upscale sister company of Onkyo. I have the DTM-7 stereo receiver as the H/T hub in my 2.1 channel secondary system.
It works well also, but if your AVR is doing double duty for music and H/T, I prefer Marantz for at least two reasons. #1, Heos is much better as a streaming music controller than Playfi is in my experience, and #2 I prefer the sonics of Marantz as compared to Integra. Why is it better, IMO? It sounds fuller, more musical, less forward, and just brings out the emotion of the music better, IMO. I say this even though I currently have better speakers with the Integra system 2 than I do with the Marantz system 1, and it still sounds better to my ears.
So yeah, Marantz is my recommendation. Good luck.