If you can spare to use two channels of the 7100 for the second pair of speakers, the a/v switch box might be the easiest solution. Hook each pair of speakers to the 7100, connect the inputs for those channels of the 7100 to the outputs of the switch box, and then connect the left and right channel pre-amp outputs of the 950 to the inputs on the switch box. All it will cost you is a few extra sets of interconnects (which you might be able to cannibalize from elsewhere in the system if this is a temporary arrangement) and $15 for the switchbox.

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