Looking at the specs for your speakers, they do seem to reach quite low (36Hz for the fronts, 50Hz for the centre and an impressive 38Hz for the rears), so in theory you could get away with keeping them set at large.
However, I have found with my MA's (the fronts of which reach down similiarly low) sound MUCH better set as small with a crossover of about 80Hz. I believe the thinking is that speakers use more amplification power generating low frequencies (large driver shifting more air), so if you spare them the chore of having to do that there is more available for the midrange and high frequencies, and allow the sub to handle the low frequencies that it is designed for - with its own dedicated internal amp.
My own experience bears this out, I get a noticable increase in clarity in the top end and midrange.
Also if you are running your speakers as large, but your sub is still operating up to 100Hz, you will be getting quite an overlap in bass frequencies, Again when I tried this I found this made the bass really 'muddy' and unclear. As soon as I set a clear 80Hz cross over between the sub and ALL the speakers (all set to small) the bass tightened up, and the whole system sounded much better. You might want to give it a try. Just listen to the same music track or movie sequence, and keep adjusting between large and small for the various speakers, and increase/decrease the crossover point until you are happy with what you are hearing.
As for two subs, I would have thought your settings shouldn't have to change (once you have settled on your ideal) - two subs are generally better than one I believe (though I haven't tested it out myself), the main reason being that they will provide a more even distribution of bass frequencies in your room, as although bass frequencies are omni-directional they are VERY room dependent (in my room I have two spots that are 3ft apart; one has great bass the other has almost no bass)!
Experiment with moving your sub about too, you might find some big gains in bass level and control, I did. Also consider looking at an Antimode 8033. I recently home demoed one of these little boxes of black magic, and it made an incredible difference to the taughtness and accuracy of bass in my room. Doing these things might give you bigger gains to your system than buying an additional sub.