Best way to route HW synths to audio?

[birdbrain]

How is the best way to monitor the audio of hardware synths that are played/recorded in MIDI?. I am hoping there is a better way than what I am doing now.
I currently have two create two tracks one to trigger the synth via MIDI and one to monitor the synth audio. The first being the MIDI track, where I route the controller MIDI/out to the Synth MIDI/in. The second track is routing the audio out from the synth into its audio input, on its own Reaper track to the main audio outs/or routed to FX, etc...
Is that it? Is there a better way? A way to only have one track that does both, route the MIDI out of my controller into my HW MIDI synth and then that same track receives the audio from the HW synth and routes it to my Main audio outs?

[domzy]

if you want them on one track you can use the reainsert plugin

[birdbrain]

Originally Posted by domzy

if you want them on one track you can use the reainsert plugin

thank you for the lead.

I just set up some tracks with Reainsert. Unfortunately this seems to be much more lag than having the two track setup. Seems strange, but must be some bottleneck in that plugin. I guess for now I will stick to the two track per instrument set up.
Do you think the lag is from the audio interface, midi interfaces or the plugin?

HW set up follows:

Dell XPS Core 2 Duo 2GHz, 4 GB RAM.
Zoom R16 audio interface.
two Alesis QSRs (MIDISPORT 2x2)
Roland D110 (MIDISPORT 2x2 anniversary)
Roland XV5050 (USB)
Alesis DM8 (USB)
Casio LK170 (USB)
M-Audio Keystation Pro88
EMU Xboard49
Alesis MIDIverb4

[Philbo King]

I use the 2 track method also. I prefer it actually.