Overwhelmed with sub decision

I'm trying to match a decent sub with a set of Klipsch KSB 3.1 bookshelf speakers. Budget is $400 max. I currently have an old Yamaha YST-SW60 sub. It has, in my opinion, very muddy sounding bass. I borrowed a Klipsch RPW-10 and liked the crisp bass it put out. I'm looking at the Klipsch RW12d, SW450, and KW100. I like the idea of down firing because I don't want cats clawing either a grill or speaker. If front firing is the way to go I'll try and figure something out. The sub will be used 50/50 TV and music. I will have to place the sub against a flat wall. ANY advise will be appreciated.

I was leaning that way, but am nervous about the digital control. I was considering the down firing because of cats running around the house. Trying to avoid damage.....

More nervous about the reliability of the control board. I like having 2 knobs to turn

The main reason I was looking at the Synergy subs is the simple design. Not sure if I need a 12" driver or if I should stick to a 10" sub. I'm not looking to shake the house off the foundation, just get a nice kick for movies and music.

Just added a Klipsch Sub 12HG to the list. Same price as the Newegg special. I have an old set of 5.5 towers that had to leave the living room due to space. Didn't realize how much I lost until I tried using my Yamaha sub.