As someone who got into hifi headphones before getting into hifi speakers, I've owned or extensively auditioned most of the major flagships. And I think I know exactly what you're looking for. I'm surprised nobody else seems to have mentioned this. To give you the sensation you're looking for, what you need is: Speakers.
I know that's not what you wanted to hear, but if I'm understanding what you want correctly, it's true that speakers are the only current solution. When you talk about 'that feeling that they are really in the same room', sound that 'resonates with your bones', '3D soundstage audio feeling', 'holographic', 'thick lush sound' all together, I think what you're looking for is the combination of reproducing the full 20hz-20khz audible spectrum not just to your ears, but all around you such that you feel the tactile sensation of it all.
When you say '3D soundstage' ,'holographic', 'detailed', most audiophiles will usually associate these with the quality of higher frequencies by default. I would as well, except that you mention 'feel they are really in the same room' and 'almost resonate with your bones' and 'thick lush sound' in the same sentence, and by that I know exactly what you mean:
I think what you are referring to is deep bass extension that is not just heard through your ears, but felt on your skin. The latter actually contributes hugely to even the '3D soundstage' and 'holographic' feel in a way headphones simply cannot match, and more obviously contributes to that 'thick lush powerful' sound. There are some exceptionally well mastered orchestral music recordings I play, where even though it doesn't seem to have a huge amount of deep bass content, when you switch the subwoofer on it's amazing just how much more deeper and wider the 'soundstage' feels than without. If I play the same content on headphones I know technically reach 20hz without attenuation, it's just not the same. I hear the frequencies, but I barely notice them because I do not feel it.
It's very hard to describe. If you listen closely on headphones, you can hear these deep resonances and echoes through the large hall in which it was recorded, but with speakers it is effortless and natural because you don't just analytically hear them -- you feel and experience the space that these low frequencies convey, and you percieve this space all around you. Even if subconsciously, it creates a powerful sense of space and depth that simply doesn't exist without these low frequencies played in the air around your body so that they are literally "felt in your bones" as you would put it, rather than just heard by the ears alone.
But unfortunately, as I've said, you won't get this from headphones. You could get close with headphones+subwoofer, in which case you might as well just go all the way to speakers+subwoofer.
There have been attempts to solve this with portable solutions to pair with headphones (so you don't have to carry a subwoofer around with you), but I have no idea how well they work; for example: https://www.woojer.com/vest/
Oh man, this is something of a loaded topic, but I can't say I fully agree with the above.
Like many, especially younger audiophiles, I started my audiophile journey with headphones and still hold them in high regard. My focus on learning the science behind speakers has helped me quell my desire for new headphones, but whenever I go back to headphones, I can't help but remember I find them so much more revealing.
I have yet to hear a pair of speakers I perceived as more revealing or detailed than a decent pair of headphones. Not in professional recording studios, not $100,000+ pairs. There are many potential reasons I percieve things this way, but that's been my experience so far.
While I generally agree about the spatialization aspect of speakers, no pair of speakers nor fancy surround setup sounds even close to a good binaural recording in terms of spatial cues. If binaural recordings included the tactile sensation in the bass and allowed you to share the experience with friends, I'd have the perfect audio system. It's a shame more music isn't available in binaural format.
I haven't tried the bacch system though. Would really love to give that a go.