The rotel sounds better to you. subjective. My experience with emotiva is alot different than most here. I didnt have the xpa5 but I owned the xpr5 and xpr2 and I demoed the xpa1s in my home. In my opinion, which once again is subjective, they stood toe to toe with all the amps in my house. But I am not going to get into a Emo conversation.
To the op, demo all that you can. You have nothing to lose but return shipping. find what sounds best to your ears and go with that. You can get opinions all day because everyone has one but the only one matters is yours. In this hobby it is best to try things out for yourself in your system. What someone else might like might sound like garbadge to you and vice versa.