I would like to have a set of bookshelves for a small to medium size room with as little distortion as possible, can get to a reasonable loudness, and only be forward firing.
Have you read through this thread entitled "Building a 2-way small active speaker with software crossover" started by @pma?
BTW, I assume my PC-DSP-based multichannel multi-SP-driver multi-amplifier fully active stereo audio project (ref. here for the latest system setup) would be one of the (extreme?) cases of your interest since it would (at least) fit for your demand of "DSP (XO/EQ/Group-Delay/Relative-Gain) controlled system having a reasonable loudness, and only be forward firing".
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