How do you know if you need to add a sub (without auditioning one, I mean)?

I like my speakers, I like the SQ of my system, so I'm not asking this question because I'm seeking a remedy to a deficit. I just wonder if it would sound even better with a sub. and I don't want to buy/audition anything based on mild curiosity. Also, like many of us, I don't have an unlimited budget and wouldn't care to stretch it unnecessarily.
How does anyone else decide whether to add a sub or play a pat hand?
My speakers are ATC SC40v2s. By specs, they don't go low. To my ears, the bass is much more satisfying than anything else I've listened to in my limited experience.