I'm running a very similar setup and have never tripped the protection circuit of the 2807 before. It's possible I suppose since you are driving them insanely hard (as in: CAN YOU HEAR ME!?!? ;) ). It's more common that a loose fray from a speaker wire is causing a short which has the same protection-circuit effect... have you double-checked that? You can't really compare them to the Polks... different speakers = different impedance curves.
If you are over-driving it, you have 2 options really: you can make sure your subwoofer is handling all the frequencies below 80 (maybe even 90) Hz. The RC-70s should be set to "small" in the speaker setup. Those sub-120 frequencies are usually the biggest current-suckers. With the subwoofer handling them alone, you can have bass being reproduced by the best speaker for doing it in the best location for creating it while the 70s can use all the Denon's juice for producing the sound they're best suited for from the locations those sounds should be coming from. It's a complete win situation and you shouldn't have things set up any other way.
If that doesn't work, then - like you say - adding a dedicated amp is really your only choice. You'd probably only need to add a 2-channel amp to drive the 70s. The Denon should happily handle all the rest. Rotel would be a brand you should be thinking of. When you hook that amp up, you'll no longer be using Denon's amp; hence, no protection circuit.