I have two DACs, which are expected to be connected through XLR inputs (in a balanced configuration). Do I have to disconnect them separately and calibrate each of them for impedance matching?
Let me preface my answer by noting that adjustable impedance is NOT a precise deterministic way to achieve impedance matching. Adjustable impedance is a mechanism that allows the user to explore the possibility of finding an optimal impedance setting for their particular system. In most cases, increasing the preamp's input impedance beyond the default 20k will not result in any discernable changes in sound quality. But in some cases it will. And sometimes even lowering the impedance below 20k may yield improvements. You can't know in advance. The only general guidance is to have the preamp's input impedance be set equal to the amplifier's input impedance such that the effective combined parallel impedance equals 50% of their nominal impedance (example: preamp - 50k, amp - 50k, effective impedance = (50*50)/(50+50) = 25k. )
In fact, it's technically a misnomer to use the phrase "impedance matching" at all. Contemporary consumer audio does not really use "impedance matching" as such. For example, the output impedance of a DAC does not try to match the input impedance of a preamp, and the output impedance of a preamp does not try to match the input impedance of an amplifier. They could, if they did, but they don't. Instead, we use the concept of "impedance bridging" where the output impedance of the source component is relative low compared to the much higher input impedance of the downstream component to which it's attached. Thus, a DAC may typically have an output impedance of say 100 ohms, connected to a preamp with an input impedance of say 20,000 ohms resulting in an impedance bridging ratio of 20,000/100 = 200:1. The simple idea behind this is to make it easy for the signal to exit the upstream component while limiting the load (current demand placed on upstream source component) presented by the connected downstream component. With conventional active components, the traditional guidance is to achieve a minimum bridging ratio of 10:1 to ensure good performance. In the case of passive preamps, you'll often see this guidance raised to 50:1 although that high a ratio is often not required depending on how robust the output stage of the upstream component delivering the signal.
To answer your question directly, no, you do not need to calibrate based on what component is connected or selected. In fact, during the the LDR calibration process, all inputs and outputs are temporarily automatically disconnected within the preamp controller. Therefore, you normally don't have to disconnect any cables.