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I have a 2023 Lariat Hybrid with B&O sound system. It was ok but even age age 69 I sometimes feel the need to blast Pink Floyd, Led Zeppelin, etc.
My first upgrade was swapping out the front door speakers and dash tweeters to Rockford Fosgate R1675-S.
https://www.crutchfield.com/p_575R1675S/Rockford-Fosgate-R1675-S.html
I had previously tried upgrading the B&O sub with a Dayton Audio DCS165-4 6-1/2" Classic Subwoofer. The existing B&O amp did not make this a worthwhile upgrade. Wasted about $100 with all accessories. I decided to add something bigger but still relatively low cost.
I got a Rockville W10K6D4 V2 10" Car Audio Subwoofer with Box Enclosure from one of the better Ebay sellers for $132.90. I had something like this in the back of my Toyota Tacoma and it sounded great.
https://www.ebay.com/itm/303258114245
Amazon sells just the bare sub for $84.00 (4/5 star reviews at 88%)
https://www.amazon.com/Rockville-W10K6D4-V2-Subwoofer-Compliant/dp/B07BN65GTG/
I also got an Audiozerone class D mono amp 350W RMS into 2 ohms from Amazon for $68.00. (5 star reviews at 90%)
https://www.amazon.com/dp/B0CMCKR2MS
I installed them the other day. The sealed box is way too big for under the seat or behind the seat. Since I rarely have passengers in the rear seats (I use my Prius for passengers) I put the sub on the seat and strapped it in with a seat belt. I have to say it sounds amazing. It turns the amp on and off quickly with the existing sub connection (no remote wire needed). I mounted the amp under the rear seat. All the connections I needed were right there so it was very easy. The source for the amp is the existing subwoofer wire. I left the old subwoofer in place but disconnected. I also used Forscan to set to Flat EQ which was very easy. I did not yet swap out the center speaker but I might at some point. The rear speakers are not worth upgrading. I will probably disconnect them.
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