Using the SYS, my thinking is that you could run a pair of RCAs to input 1 from one amp and to input 2 from the other. Then run a pair of RCAs to the sub from the SYS output (or a y splitter to a single RCA if the sub has single input). Being very careful about having only a single amp on at a time, having both turned off when switching which to use.
I believe the same could be said for a switch box.