Yes RAW is the ticket, and you've got some very nice shots. Now on my monitor most look a bit dark to more than a bit dark BUT my monitor is calibrated brightness wise to match the output from my printers so it's likely that's why I'm seeing what I see. Do you edit with your monitor set to full brightness?
I have not modified my monitor output. When I print I have to play with the photo or output every time. I haven't printed that much lately.