but when I listen to the same music off the Cd's at home they seem much warmer and have more depth..

What about when you plug a CD player into the car amplifier? Or when you plug your empeg into your home stereo? By trying to compare your home stereo to your car stereo, you're not comparing apples to apples.

And even then, there will be a slight difference between the empeg and the CD player as described here.

There are also two other issues that may change the response of your car player here and here.