I've got an older Denon where the menu is just unbearable, VCR's had better on screen menus. Our few year old Marantz 1602 is worlds better, but still frustrating. I believe that Marantz shares the same firmware as some Denons. Not sure how their latest receivers are menu wise. The 1602 is low power, but has a nice sound, it's on the girls' tv.
I got a Yamaha RX-V681 a year or so ago. Menu is much simpler. Doesn't have Audyssey, but does have YPAO which only takes one measurement. Sounds fairly neutral and balanced and does what it is supposed to do. For me, I wanted 4K passthrough, with the thinking the TV should handle that better than a HTR. I watch a combination of Apple TV, Blu Ray and Fios. I'd be much happier if more channels broadcast in at least 5.1. Some programs that are in 2 channel sound strange in 7.1, but going back to 2.1 sounds so tiny.
I can say Jim's Marantz (and speakers) put you IN the car crashes.