yep, velcro works until you actually stop quickly, turn quickly, or accelerate quickly on a hot or cold day. then your amp moves, strains the wire connections, which can fail, arc, destroy equipment and start a fire.
i've seen the aftermath that results from velcro. not pretty.
on a hot day the velcro glue becomes liquid and lets the amp slide across it.
on a cold day the velcro glue becomes too stiff and just lets loose.
use screws to mount equipment. it takes just as much time to do it right as it does to do it incorrectly.
as mentioned, you can use silicone to glue a piece of wood down to metal, then screw through the carpet into the wood. that works fine and silicone is an excellent adhesive while not being totally permanent (can slice with a razor).
if you don't want holes in the car, then you don't want to add to the factory system or you need to remove panels, buy equipment made to be hidden, and stash the amps behind factory panels so they are not visible.