The best replacement for rx-v573 is rx-v575.

The best alternatives to rx-v573 are rated as following:
★★★★★  rx-v575
★★★★  tx-nr515
★★★★  tx-nr616
★★★★  denon avr-1913
★★★  onkyo tx-nr515
★★  denon avr-1713
★★  rx-v671
★  denon avr-2113
★  rx-v473
  rx-v571

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rx-v573
rx-v575
tx-nr515