Swap heos bar to arc ultra?

I'm thinking about replacing my HEOS bar with a subwoofer and two HEOS 1 rear speakers, which I'm still happy with, with a Sonos Arc Ultra. The reason: I want even better sound quality and Atmos support. How do you rate the difference in quality between the HEOS bar and the Sonos Arc Ultra? And I would definitely add a subwoofer. Do you recommend the G4? And for rear speakers, the Era 100 or 300? It would have to be a significant upgrade from the HEOS bar, otherwise I wouldn't consider it.