Frequency loudness sensitivity aside, there are differences in the abilities of different systems to sound rich and full at low volume.
The combination of robust amplification and higher than usual speaker efficiency gets the job done. Look for amps that have more power as the impedance is reduced- e.g. amps that double down.
At one extreme HE and Horn Speakers tend to do the best job at producing bass at low volume levels, something like JBL or Klipsch Heritage, Volti Audio etc. Larger more sensitive woofers e.g. 12 to 15 inch / 90+ db efficiency for example.
I had a really modest system with PSB tower speakers and a NAD 150 watt amp and the woofers seemed to be connected mechanically to the amp- every punch and note was felt despite very low listening levels.
It can be done.