First and foremost, revert the speaker impedance setting back to 8 Ohms. As explained
here, you're potentially delivering less power to the speakers. At the 6 Ohm setting, the reduced harshness with slight muffled sound is the result of clipping distortion artifacts being removed. IMO, neither the FS52 speakers or the amp are fit for full range sound. Use a 90 Hz crossover on all (including front) speakers to free up some power reserve in the amp.
Is the center speaker properly placed and not pushed to the back of a shelf?
IMHO, the receiver is not necessarily due for an upgrade and instead the addition of a sub is critical.