It really is amazing. I tried this when I lived alone in a small apartment. I had just built my Bottlehead Paramours. I had a pair of 80's Kenwood 3 ways. I sat down to listen to the 'Round Midnight soundtrack with my cat in my lap. The sound filled the room. I was really impressed. But what really surprised me was when the first tune with a vocal came on the cat sat up and looked to see where that other person was in the room. He thought someone else was in the room with us.
But, as you say, it's not always practical to use this set up. I don't have the space in my office or the bedroom. In the living room my wife and son would not want to be walking around the speakers and stepping over wires.