Levinson 331/334 at least, 333/336 the best I have heard with Thiel.
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I don't think the Rotel amp provides enough current for the Thiels 2.4 to sound their best. I am using a Levinson 27.5 with mine, and I really think I need to upgrade to a 332 or 334, at least. Thiels in general need as much power and current as you can throw at them. I have also heard Pass Labs and Theta sound good with these as well.
Back around 1997, when I moved into a new house, I started off with Thiel 2.3s, then 7.2s and now 3.7s (got them when they first came out). I had a huge room in the old house (19 foot ceilings and opened into other spaces and probably was over 7,000 easily with everything it opened into) and an integrated AV system. I started off with a Rotel multi-channel amp and processor and it really didn't handle the 2.3s (I had a Thiel SCS2 center channel) with enough current. I then went to a Bryston 4BST which could be taxed to its limit particulary on intense movie scenes or dynamic music. I then went Proceed HPA amps (basically scaled down Levinsons as that was within my budget) and a Proceed AVP processor. Then I moved on with other processors and sets of amplifiers.
I currently (since they were out) have an MCS1 center to got with the 3.7s along with 2 sets of SCS2s (for side and back surrounds), Power Points for front height channels and I have Axiom Audio in ceilings for rear Atmos speakers. I got tired of expensive processors way back and went to a 2-channel preamp with HT Bypass (Modwright LS36.5DM) and get refurb receivers (capable of handling the center and surrounds - had a 3 channel amp for a bit though) at accessories4less.com for everything except the left and right channel. It works well and I don't need to worry about changes in surround sound. I have multiple systems and just rotate receivers to upgrade another room. My main system is shown under my profile.