Hi. If it were me, I would ditch the whole surround thing - stereo is enough for me. Alternatively, you could swap your large boxes with something like the excellent Q Acoustics 7000i (at least I think that's what it's called), and maybe get a lesser surround amp. That, or a soundbar.
As for the music part, keep the Sonos, since it has a good interface, and get a stereo amp with a DAC - either Hegel H80 or Naim Supernait (mark 1), either of which will improve the sound coming from the Sonos significantly.
As for speakers, the PMC Twenty series will in no way give you the warmth you are seeking. I would look at ATC SCM11, Harbeth P3ESR or Revel Performa M106. If you go with the Hegel, KEF R300 are also worth auditioning.
B&W CM5 - I used to own these, and they were nice little speakers, but sometimes voices would have a "cupped hands" effect on them. Otherwise, they are indeed warm and capable of nice "fake" bass (meaning there's a hump in the mid-bass that some people mind - I, for one, don't).
Also, any standmounted speaker (apart from a few, especially designed for the purpose, like Neat Iota or Guru Junior) will bennefit greatly from being... well, on a stand. The effect that speaker positioning has is almost as big as getting a new pair of more expensive speakers. So having speakers on stands is a must, if you want the speakers to work at their full potential. And again, it's not a minor improvement.