If you bypassed the different automatic setup systems, and level matched them and listened blind, you almost certainly will never hear any difference between the two receivers. If you don't do those things, you may well hear a difference or believe you do.
And, if you are never going to upgrade your speakers, you likely do not need separate power amps, just like your friend says (that is a refreshing change, as, it seems, most of the time, the "friends" who are mentioned on posts to which I respond are wrong). However, I would not casually recommend that you sell them off. If you upgrade your speakers to something difficult to drive, then your power amps might be of use (depending on what models we are talking about). So think about that before you sell them. But, again, you likely do not need them for your current speakers at all, just as your friend says.