They were so much full and detailed unlike my system. Now my question to you guys is why my system doesn’t sound so full and good ?
"Fullness" tends to be a frequency response related issue. Speakers that veer away from flat to get "instant appeal" often lack fullness and try to make up for it with exaggerated bass. Also your speakers seem to be 4-ways, plus a subwoofer for an effective 5-way. Without good driver integration that can be a mess, and to get good driver intergration can be expensive.
And it's possible you were listening to "overly" full speakers, which is unnatural-sounding on some music.
Finally, I wouldn't discount room acoustics. They are by far the second greatest determinant of SQ after the speaker.
Does these old system have something which the latest system don’t. I know all old music systems have class A/B amplifiers and the latest have class D but is that it or also the speaker. If I buy a good class A/B power amplifier (2 channel) just for listening to music, will I get the same full sound that I heard at the vintage stereo store?
Nothing is wrong with a class D output stage. However it has to be implemented well with a stout power supply too. The "140 WPC" Pioneer SC-37 for only puts out about 150WPC @ 4 ohm. This means it is "effectively" only a 65-75 wpc amplifier driving a 4 ohm load - and many speakers will be a 4 ohm load regardless of marketing literature. The SC-35 is essentially the same amp section - so you can see that perhaps your speakers are underpowered. It's not the ICEPower output stage causing that - it's the power supply.
Still, 65 watts is a lot of power and it's possible to be perfectly adequate at the SPLs you listen at. I've had lots of output from an effectively ~20 watt amp before.
Do I also need to change the speaker ?
I've not heard your speakers personally, but this is what I would put my money on. I recall Gene didn' t like them either.
My advice is to find nearby speakers whose frequency response measurements are well-documented online so that you can get a feel for what kind of speaker you prefer.
Since you mentioned vintage speakers, you might note that older speakers had wider dimensions. This is often very directly related to the speaker's forward radiation. Thin speakers inevitably have a transition in radiation from forward, to forward and backward, and then back to forward, which can be very problematic for designers to get satisfactory sounding in the lower mids and upper bass . Wide speakers often maintain a smoother transition in this region so perhaps you might consider some Pi speakers 3 Pis for example.
Do you have a budget? Where abouts are you located?