Integrating a single subwoofer by ear is possible, but requires experience and patience.
A couple of tricks that can be used:
- Put the sub at your listening position, make it play a bass signal (like a 20-80Hz warble, e.g. from REW), then crawl around the room to look for boomy spots and nulls. Place the sub in the best sounding spot.
- Wire the sub (or a main speaker) out of phase, play a tone at the crossover frequency through one main speaker and the sub simultaneously, adjust subwoofer phase and volume so that you get maximum extinction if you put your head halfway between speaker and sub.
A measurement-based approach is best and most predictable, of course, but requires the ability to interpret measurements and make the right adjustments. Thankfully, you can post your REW measurements in forums such as this one, and people can help interpret them for you.
Using multiple subs makes it easier to avoid some bass problems inherent in most rooms, but I'd say their integration absolutely requires measurements and software support.