Interesting thread. I have the Yamaha nx-n500 and some swan m200mkiii+s, the latter being another relatively popular 5 inch 2-way multimedia/PC speaker.
The nx-n500 have long been my desktop accompaniment and preferred option for listening for the exact reason you stated. I have always found desktop listening very much requires some real separation between the desk and speaker, at least 2 inches and of course generally tweeter and ear heigt. Perhaps this explains why the presentation falls to bits in the nearfield because they should be rock solid there. Forgive me while I rant about how underrated these little gems are.
There is a supreme elegance to these speakers and they sound as balanced and non-fatiguing as all my favourite headphones like the 6XX and an Oratory1990 Harman EQ'd Sundara. These unassuming speakers are stacked with high quality dacs for its array of digital inputs and using it directly with a PC via USB, driver free, is a breeze. Released in 2015 they were way ahead of their time. Controllable via musiccast, optical input, anaolgue input, wifi/dlna, airplay, bluetooth, 32 bit ESS sabre usb DAC etc... I was lucky to get a pair for half price in January of 2018 for $500 AUD, so even then they were considered a failed product and as far as I know there are still units floating around the place.
They share the body of the hs5 however both the tweeter and woofer are revised and from all accounts of higher quality. Tuning has been described as relaxed with a mid-range emphasis. Both units individually powered and bi-amped, most likely DSP'd too. It's a self contained hi-fi system that absolutely will introduce a veteran headphone enthusiast to the magic of 'hi-fi' or decent speakers, exactly what it was designed to do, alas it did not catch on. Overall, just a really cool little Yammy product built like little brick shit houses full of tech.