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Preheat the oven to 425°F. While the oven heats, allow the thawed meatballs to sit on the counter and come to room temperature.
Place the open hoagie rolls on a large rimmed baking sheet. Toast the rolls in the preheated oven until lightly browned, about 2 to 3 minutes.
Meanwhile, in a large bowl, toss together the meatballs and marinara sauce.
Place the meatballs and sauce on the bottom half of each hoagie roll. Top with cheese.
Bake the subs, uncovered, until the meatballs are heated through and the cheese is melted, about 3 to 5 minutes. If you'd like the cheese more browned on top and the rolls toastier, place the subs under the broiler for a minute or so at the very end. Just keep a close eye on them because they can burn quickly.
Close the subs and serve with additional marinara sauce for dipping.