I would suggest to install the amp on a different mount than putting it on the subwoofer box. You can use slim depth subwoofers with minimal sealed volume enclosures to save space. I have used before a 10” subwoofer with just 1 cubic feet (internal) of sealed enclosure and it offered decent low frequency sounds that matched my audio system.
If opting for an amp, I would suggest a 5-channel amp as the 5th channel is usually a dedicated mono output for a subwoofer. You can even use it to run a 2-way full active setup. There are those Class D amps that are small enough that could fit under the seats.
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