I'm not familiar with expanding acoustic foam. Is it porous like regular acoustic foam?
Regular expanding form is too dense and filling them will effectively reduce the internal volume and the bass will be fouled-up!
Filling the speaker with regular acoustic foam will probably also foul-up the bass by reducing the volume. You might try that first. And if you try it with one speaker you can A/B compare before/after.
Lining the internal surfaces (or stuffing) with something like fiberglass that can absorb internal reflected sound and that can help reduce some internal resonances. But you could be fixing a problem that doesn't exist. Or stuffing with fiberglass may also degrade overall performance. Usually, internal resonances are related to the internal dimensions and wavelength so they end-up in the midrange. If the resonances are above the woofer's operating range they won't be excited.
It also seems like an irreversible modification...