IME/IMO 16 k-ohms is not all that low for input impedance; hard to believe the Denon can't drive that. And 850 mV input sensitivity is fairly low these days so even less reason to think the Denon is audibly clipping. Have not measured it, of course. I would suspect the amp and/or speakers themselves are clipping. Of course something could just be bad (broken) in the signal chain...
Guesstimator for in-room power requirements:
Peak SPL Calculator
Equal-loudness curves:
https://en.wikipedia.org/wiki/Equal-loudness_contour
The latter demonstrates that, to hear a 100 Hz tone and have it sound as loud as a 1 kHz tone at 80 dB, you need the 100 Hz tone to be about 10 dB louder (10x the power). And over 20 dB louder (100x the power) at 50 Hz. So a subwoofer may take off quite a load, but of course it depends upon what you are listening to and how loudly, so there is no simple answer.
HTH - Don