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yeah as far as I understand HDR10 is basically the 'base' default version of HDR in a home cinema context. There are also HDR10+, Dolby Vision and a couple others but the plain ol' HDR10 should get you by.

I don't see any mention of any HDR support on Denon's specs page for that model: https://www.denon.com/en-us/product/av-receivers/avr-s920w That said, some googling says that the HDMI ports on this unit are HDMI 2.0a which per spec does support HDR. Some customer questions on Amazon and forum...