u want to listen to good complete music then you must get a subwoofer for your car. low freq bass like from a double bass or cello can not be reproduced by the normal car speakers and for that matter some speakers even struggle to play the top three strings of a guitar.
adding a woofer does not necessarily means you will disturb the environment or bear the burnt of thy neighbor's wrath. that happens when you turn the volume up way too much and we all know excess of anything is not good.
so if you want decent sound, get a sub in a sealed enclosure. if you want to go a little crazy at times then get a sub in a ported enclosure.
remember you only disturb people around you if you turn the volume way up. otherwise with proper dampening and low volume they wouldnt feel a thing