I think digital is regarded as sounding cold because the time digital came out is also the time cheap preamps came out, and cheap sounding mics came out, and I shudder to even mention the word, PLUGINS.
I've never known a studio owner who uses digital with GREAT outboard gear to say digital is cold. Many examples immediately come to mind.
I used to think that my recordings sounded grainier than pro stuff, and they did, and then I upgraded
CONVERTERS
CLOCK
PREAMP
MICS
REVERBS
and suddenly, the difference I am hearing between the pros and mine is that they have better ears, more experience, and better monitoring.
I've also noticed something. I am not completely sure yet, but I think that the fewer digitally recorded tracks, the better.
When monitoring my sound module with only two tracks, it sounds fine. When I record each instrument individually for mixing, I lose something.
Ps. Plugins, especially reverbs, are best left out of the mix.