In order to get the best sound, make sure the system is set to Surround, not Stereo. Also, your audio source (Apple Music, Spotify, etc.) needs to have the output set to the maximum quality. If using an iPhone you need to set Adobe Atmos to Always in the phone settings.
Since I’ve done all of the above it sounds a lot better. I think people expect amazing sound from SiriusXM or the radio but they don’t broadcast at the highest quality.
Thanks for the tip. Setting it to surround did make my sound a lot better.