Denon AV receivers tend to have class leading objective performance out of the mainstream brands. But that's actually not a big deal, as we're not lab equipment, and we're unlikely to run these things loud enough for the differences in distortion to become audible.
That said, Denon also uses Audessey room correction, which IME works really well. Onkyo uses Dirac now, which is supposed to be better, but requires more manual tweaking.
Yamaha has the most responsive phone app remote, and it opens quickly, and is stable. Denon's phone app remote is very buggy, and takes like 5 seconds to open to the point it's usable. YPAO is a decent room correction system IME as well.
Sony and Pioneer use in house room correction systems, and IME they're not very good, and only level match, no PEQ.
I've never owned a Marantz AVR, so I have no opinion on them.