Matt,
Yes, rcvrs just have the one SUB OUT, but it seems that your sub amp doesnt support L & R inputs. OK.
Since you have max'd the rcvr's subwoofer level scale

after trying Brian's suggestion that spkrs be SMALL, aside from a beefier new sub, you might switch the sub amp away from Auto to just On for DVDs (and later shut down the sub amp when not in use or back to auto for sleep).