I'd agree with Mark and Hobbit.
Unless your Denon is defective or you play the Quads near their limits, the Denon should be able to drive them properly. 105 watts per channel should do fine.
I could not find measurements of the impedance. Quad publishes these as 6 ohm speakers. If that is true, the Denon should do the job. Are you using all 7 channels?
I guess I would say if you do not like the sound when the Denon is at 75% or less of total power, it is not the amp.
If you like the sound of the speakers, it must be the room.
Problems – lack of bass quantity and quality, highs a bit bright, some instruments could sound more realistic.
Looking at your room, the highs would get bright if you have lots of glass, sheet rock, and tile or hardwood floors, etc. You can do some impromptu testing by throwing carpet and blankets on the floor and walls to absorb treble. I suspect this will improve the treble and also increase the realism of these speakers. If that does the trick you can opt for acoustic treatments for your room, or simply add rugs and some tapestries/curtains.
For bass quality and quantity, you can set the speakers closer into the corner for added bass, but it will not improve (and may hurt) the quality.
Truly, 6.5" driver (especially just one) cannot provide solid bass. A sub is the best fix. I assume you are in Europe. Check Mordaunt Short for subwoofers that will essentially add a large woofer to your speakers. Set the crossover on your AVR to 80, then try 60Hz to see which you prefer.
The last consideration is that the Icon Audio ST40 MkIII amp added unique sound characteristics to the signal. The Denon is going to provide neutral sound, but sometimes smaller companies (especially tube amps) will decide to "enhance" the sound by embellishing the signal. This can certainly improve your perception of the sound, but is not that different from adding an equalizer to add emphasis to certain frequencies.
If it is the amp, that kind of sucks because the only way to assure that sound is that amp (which is far too expensive to buy and find out your room is the biggest issue).
See if the dealer will allow you to bring the amp home for a trial. You may have to buy then get refunded (but make sure of their policies, and speak with the manager if it is a smaller, privately owned shop).