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The biggest difference is the SA-XR70 has HDMI inputs so you can use a Panasonic DVD player in full digital mode, including DVD-AOtherwise, the SA-XR70 has an illuminated remote, the 55 doesn't.The 55 has 3 component video inputs. The 70 has 2.The 70 has a digital audio output. The 55 doesn'tThe 55 has 7 audio inputs, the 70 has 5.The rated audio output of both receivers is the same: 100 watts per channel.The 55 has a 80 hz electronic crossover. The 70 only goes down to 100.The SA-XR55 is also $50.00 cheaper through J&R right now.
The 70 doesn't do 7.1 Both the 55 and 70 are 6.1. The 70 also can passively bi-amp the front two channels. I do not know if the 55 can.
According to the manual it has 5.1 analog inputs. I just hope the XR55 sounds a bit less cold and clinical than the previous models.
As far as cold and clinical, after mods they DO warm up quite a bit. But it does cost some money to get that sound.
I got lucky and picked up an old pioneer stereo integrated amp at a garage sale for $20. It's built like a tank, weights in at about 40 lbs, but most importantly it has a really nice sound to it. It has a really compelling sound, warm, with deep and wide soundstage, fantastic bass, and still crisp and clean up top.