If you use a miniDSP and output separate digital signals, then yes you would need dacs downstream of each.
My use of the word "active" above was a bit of a flub; you could still use a passive crossover after the dac to split the stream, and you would feed these new channels directly to your amps.
In my case, my DCX2496 performs both crossover and DAC duties. Actually, when I feed it two analog channels from a mixer: it does the ADC conversion first, handles all the hoopla digitally, then does DAC duties again and spits out 6 channels.