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The 950 doesn’t have any pre out/main in connections.

Because it's not a receiver, it's a pre-amp/processor so it only has pre outs.
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Does anyone know another way to accomplish this configuration?

What's wrong with just hooking them up via speaker wires? Instead of complicating things unnecessarily with Y connectors and what-not, you might first want to try the simple method. The crossovers that are specifically designed into these speakers will do a better job of routing various frequencies to the proper drivers that some external crossover (like the one built into the 950).
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Also, what about the LFE output. Will any of this info be lost without running a dedicated sub via the sub output. All the bass will be in the front three channels.

This depends on how flexible the 950 is. In the set-up menu there may be a provision to configure for a speaker set-up that doesn't include a subwoofer; in which case that information should get folded into the front L/R channels. We'll know for sure once we get a peek at the 950's instruction manual.

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Sanjay
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Sanjay