Oh, I see, you're OK with spending less, eh?

Saying you'd like to be able to hear everything going on in a song and ending with; perhaps I shouldn't buy anything and just add a sub is some distance to cross.
Anyway, now we know your receiver is not going to be a problem for some time. The one you have is pretty good and it is 5.1, which is what you're going after.
Towers vs. bookshelves is an open debate. We have advocates for both. Having said that, it still holds true that bookshelves usually cost less, so you could find a decent sounding pair for less money than towers.
That is one tight budget you have there. Two more important questions; where are you? Not all brands are available everywhere. And what are your music preferences? Not all speakers will handle everything equally.
I saw fewer 200$ subwoofers being recommended than the bookshelves. This might affect your decision.
We do, however, have an expert on budget speakers. It's
this guy. I linked his threads as he often writes about budget speakers. But before that, check this
recommendation he gave, this could be right there at the top for the money.
If things like this don't appeal to you, you're probably better off with second hand. You probably know all the shortcomings of second hand market so be sure it's in the neighborhood and you can listen to them or even better, get them at your place for a test run. It is always important where the speakers are being played and not only how good they are.
Boston Acoustics A26 get praised enough for the price.