The manual is spot on to suggest that you experiment.
I have the R9s and settled on the woofers firing out without any adverse effects of one beinng relatively close to both the back wall and side wall. My own experiences mirror what the RS10 manual highlights as considerations as follows:
" ... You can position the speakers with the bass drivers
firing in or out, this is dependent on your personal preference, room size and shape.
As a guide, if the bass drivers are firing outwards this will generally give a larger sound stage, if the bass drivers are firing inwards this will give more precise imaging.
However, there is no written rule so on installation you should experiment with different positions to find the optimum placement that best suits your needs ..."