Speakers age gracefully. Electronics age in formats. Usually that means keep half and replace half, and the maths favours the upgrade over a full replacement.
A good speaker set from a decade ago is very likely still a good speaker set. Drivers do not expire; a well-built woofer or dome tweeter that was competent in 2016 is competent now, and the room it lives in has not changed either. Cabinet resonance, directivity and sensitivity were decided the day it was made. If they were right then, they are right now.
What has moved is everything electronic. HDMI has gone through 4K, HDR, eARC and the gaming feature set. Streaming has replaced discs for most people. Object-based audio (Atmos, DTS:X) has arrived along with room correction that has improved alongside it, and subwoofer design has moved on more than speaker design has. A ten-year-old AVR is not a bad amplifier; it just cannot see half of what your sources now send.
So the standard prescription: keep worthy speakers, replace the AVR, add a pair of height channels, and consider a modern sub. That gets you most of the benefit of a full replacement for a fraction of the cost, and the front three you already like are still doing the important work. Do run calibration afresh afterward, because the old settings were tuned for the old receiver's ears.
The exception: builder-grade or damaged speakers. Foam surrounds that have perished, tweeters that have gone quiet, or a satellite set that was never good and now has an old AVR to match. There, replacement is the correct advice, and I would rather say so than help you spend on an AVR that reveals how modest the speakers were.
Tell us what you own, model names if you have them and a photo if you do not, and we will say plainly which half deserves to survive. Frequently it is the half you were about to throw out.
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