In terms of objective sound quality, Klipsch is a great speaker company and is always going to produce solid, reliable products. I've used for 20 years and never had any issues. IMO if you want to get anything better, you have to really pay up.
In this case, you're comparing floor standing speakers to a sound bar. Sony ST5000 is a really good product. If you're setting up a dedicated media room, then get real speakers. RP6000 are great, but I do fine with the biggest bookshelf speakers as front L/R channels as well if you have consoles or whatever on shelving, and you have to shell out as well for all kinds of surround channels and so on, and it's worth it to do so; a soundbar under you TV is never going to create real surround sound.
If you're setting up a living room or something with traffic, get a sound bar and be done with it.
Don't use your TV speakers if you have real speakers; they're terrible no matter what TV you have and will just mess up your sound.
Either way, unless you just want to pay for brand new, get the product in a new / open box / return / b stock from eBay. I always pay like half for Klipsch where the cardboard shipping box has a dink in it.
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