A very good point, I usually don't get into this as people have very strong opinions. Cars are not ideal audio environments even if you take away external noise. The shape of the cabin and placement of speakers make audio pretty hard, but some cars actually do a good job. Add to that the fact that the smallest environmental change (like temp or humidity) will have a larger impact to the quality of the sound than "high end audio" elements and you start getting an idea why car audio should be approached as a balance. I find the Jaguar premium audio system pretty good in that aspect, the only cars I have had that are a little better are the i8 and some Audi Bang and Olufsen (not Bose) setups.
For home my advice honestly to people is: listen to it with the kind of music you like and see what resonates. It should bring the music to life and make is sound "alive" to you, specs and other issues are irrelevant. The most perfect and correct speakers are professional studio speakers and I would NEVER listen to music on them for fun. They are accurate, highly detailed, full range, flat and perfect and god suck the fun out of listening to music! And I have never found "audiophile" or very expensive gear to be worth it. There is a sweet spot in the middle where you can find the equipment that sounds very good. There are some exceptions where the ultra rarefied high end actually produces something great, but it is an exception. Most of it is branding, marketing, hype and buzzwords. My favorite examples are the very high end store demoing me speakers and at the very end I pointed out to them the tweeter on one side was blown the entire time, they didn't believe me until they took the cover off, and the time where people were arguing that directional audio cables sounded better...
Disclaimer: all of the above is my professional and personal opinion and is not meant to insult or negative anyone elses views on their favorite audio gear.
To be clear, I'm not triggered. I think this is a fun subject to discuss.
I don't think any reasonably priced music system, and maybe not any, is going to sound like somebody unamplified in the same room singing and/or playing an instrument. At least I've never heard it sound so good. However, good gear has a distinct cleanliness to the sound that pleases my ear and gets part of that feel. It's different from just listening to the music. It adds an additional visceral quality.
I have two distinct memories I compare to: my friend picking up his acoustic and singing next to me, and my cousin, who studied opera, singing a few bars at a family dinner and vibrating the room. No, three. A month ago, listening to a handbell choir play Cohen's Hallelujah. When they finished, and despite them being a bunch of amateurs, you could hear a pin drop in the parking lot. The sound was magical.
My old stereo, once high end, now sounds like mud. Age is not kind. The ipace stereo is certainly loud and clear, but it doesn't sound anything like a good home audiophile setup to me. My old Sennheiser 480 headphones, bought when I was 13, sounded great for 25 years until something went wrong with them. Even a few years ago, they blew away the Monster and cheap Sennheisers that I bought for plane rides.
So I do think there is a difference in sound, but there are a lot of things to get out of music. I'm super happy much of the time listening on a mediocre stereo, because the music still gets through. It just lacks that certain visceral quality I'd also like to have. It doesn't shut me up.
Plus the good stuff plays loud and clear.
I did go to Frys and listen to the high-end consumer-level Klipsch. It was in a theater room and just didn't sound good. I listened at the local best buy, where they had some audiophile gear, and it sounded dramatically better, but the gear was all in the price range of what I listed above.
Also, I think the main reason not to listen on monitors is that nearfields require sitting close and far fields get messed up by the acoustics of a house, so why not have something that kicks out the bass and such in pleasing ways?