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Generally, it is a really bad idea. First, almost all floorstanders (there are rare exceptions, such as Linn) are designed to and do sound best away from walls. Second, almost all floorstanders have their drivers vertically-arrayed in order to provide proper horizontal dispersion essential for stereo imaging.
To be complete, very few "bookshelf" speakers are meant to be placed on bookshelves, anyway. So, if you cannot put speakers vertically and/or away from walls/shelves, you are encumbering major compromises in performance.
I understand that all of your points are correct. However, I will be placing bookshelf speakers on bookshelves. What is your advise that will be helpful in getting the best result from my specific setup?
Keep them vertical.
Place them with their front surfaces flush with the front edge of the shelf.
Fill any of the flanking voids with books, records, etc.
Thank you.