Domane's and Synapse are going to be a more aggressive riding position. Your Roubaix, if you bought the recommended size will put you in about the most upright position you can be on a road bike. If you don't like riding in the drops on that Roubaix, then you likely won't like riding with your hands on the tops/hoods of most other road bikes.

Though perhaps, like I did when I bought my Tarmac, I found it more comfortable to be in a race fit position that the more upright I was on my previous bikes. But I knew from the get-go that I wanted to learn to ride in a more aero position. As I had realized the energy saving aspect of it for longer rides.