Yes, just one kit would do it.
However, while digital wireless sub kits seem very convenient, the transmission delay that they add can be significant (15-30 milliseconds). In many cases, this delay can prevent proper integration of your wireless subwoofers with the rest of your audio system.
For instance Denon/Marantz receivers have a limit on the maximum sub distance (equivalent max delay is about 20ms give or take), and if you add the transmission delay to the low pass filter delay and the actual physical distance between the seating position and the wireless subs, the total delay may exceed the range that the receiver can handle and the wireless subs will not be properly time-aligned.