In my experience, because you want to cross within the range of non-localizability, so that the sub is knocked down before it starts making unpleasant sounds (actually content from the main channels coming through), that puts you between 60-80 Hz with a typical LR4 crossover. And because of that, it informs what your speakers need to be capable of. I think 6.5" drivers are the minimum, but one could get away with some designs using 5.25" bookshelves crossed at 80 Hz and not played overly loud.
Some companies/people get this all wrong and pair 4" speakers with a sub crossed at 120-150 Hz. That is not going to be a recipe for the best sound. The best you can do there is to put the sub literally next to the center channel (if you have one), where it will be less noticeable. Even though that does tend to be a good location, it means such a setup can't experiment with other sub locations to find what works best.