I am not sure what you are asking:
1. Can you make your stereo pair of speakers (instead of headphones) sound like a multichannel cinema with the help of Impulcifer/HeSuVi?
The simple answer is: No, that is not what it is intended for. HeSuVi (using files produced by Impulcifer) creates a binaural signal intended for headphones. By using headphones it is easy to control what sound goes in to the left ear fully independently from what sound goes into the right ear. To create a similar effect using speakers is a more complicated matter.
However: There is a Smyth Realiser A16 Speaker Edition that seems to be able to do this.
(
https://www.head-fi.org/threads/smyth-research-realiser-a16-speaker-edition.960912/)
(They say the A16 needs additional hardware to do this, but I "secretly" do wonder what would happen if you ran the Impulcifer sweeps through such a Realiser Speaker Edition (personalized to you) and created a HRIR from that, and then use HeSuVi with speakers instead of headphones...)
2. Can I use my stereo pair of speakers to measure a complete virtual (over headphones) multichannel loudspeaker system using Impulcifer/HeSuVi?
Yes. You can measure all channels one or two at a time by either repositioning the speakers or repositioning yourself relative to the speakers.
3. Something else?
Again I am not fully sure what you are asking. With "room hrtf" do you mean the combination of your room sound with your personal hrtf? That is in fact what you get if you measure with with your own head in your own room with Impulcifer. But Impulcifer has some options to improve the results like with room correction/eq and reverberation management I think. (I don't know the details but they are described somewhere.)
Or do you think a room has a hrtf? That is not the case. Hrtf is short for head related transfer function, and it describes how sound from specific directions is altered by bending around your head and into your ears.
Not all properties of the speaker are caputered by the measurement which means that in some ways the virtual speakers can sound better than the real speakers. And again: room correction and reverberation management can further improve the result.
And if your speakers are really bad: maybe borrow or rent a better speaker just for the measurements?