I recall from way back the discussion on impedance curves and also a discussion on the RTi impedance...might have been the same thread. The speakers I'm referring to where I heard a difference were like 4 ohm 86db. I only found any difference at loud volume comparing a Macintosh amp against a Denon 2307, mid-line - not the greatest amp section. Even then, it was not a night and day difference but enough to make me invest, given my listening habits and expectations.
If the receiver has a decent amp section, it should perform well with these Polk speakers unless the impedance curve is totally whacked or the nominal impedance rating is grossly inaccurate. The only sure way to tell if it's an audible difference in this case is to plug in an amp and have the listener listen.
I'm more than a little familiar with Polks and the RTis are designed to be driven well with most AVRs. That said, the bass drivers in the 7s and 9s do represent a load, especially the 9s. They have some impedence drops below 4 ohms and if you want them to be their dynamic best, then give them power. I don't recall anyone that puts an amp on them not remarking that it makes a large difference.
As far as sound quality improvement with separate amplification, I'm in the camp that says a qualified yes. If your speakers are a load, then certainly...and bass response and sound stage presentation differs with the different designs I've tried. I've done quite a bit of A/Bing (not blind, I don't see the point, in my room, my rig) here to decide which amp or combo of amps works best. What I heard was outstanding sound quality, but some sound more forward, some have better micro detail, some more laid back, soundstage wider, taller or deeper and after many switches, I had to decide what I preferred. I had no preferences going in. I just wanted what sounded best to me. It wasn't an easy decision, but I made it. Trying to drive my speakers with just an AVR is possible, but not optimal.
For speakers that aren't particularly hard to drive, I still mostly hear praises and bass response is usually one the first categories mentioned. I have no reason to doubt this. I bought some older Polk LS90s awhile back. They are a line array, I believe, but not difficult to drive. I auditioned them on an HK635. If I hadn't known anything about those speakers, I would have left them. The sounded nice and balanced, but slightly anemic. When I brought them home and put them in my rig, the difference was staggering. Those puppies really dug deep in the bass and hit hard which they are noted for. These were TOTL in their day, but I wouldn't be totally shocked if the M70s didn't improve as well.