Many bands did studio work that obviously took precision and care (and probably many takes!) to produce a perfectly balanced result.
The Grateful Dead have millions of devotees of their live shows, and those bootleg recordings are still eagerly and illicitly passed around like secret jewels. But to me their bright, energetic live sets sound rather sloppy and dumbed-down compared to the filigreed harmonies they put on their studio albums. Precision in the studio and energy on the stage are both great products, but they are two different products.
On the other hand, Yes is one band that has managed to reproduce the delicate experience of listening to their studio tracks through headphones, and brought it successfully into the jarring cacophony of an energized concert arena.
Take ten minutes and enjoy.