Its a misnomer to call the two wires of a DC signal negative and positive. DC can be negative voltage.
The so-called negative wire is actually the ground and the positive is the hot lead but that can be negative voltage if it is fluctuating DC (like in an analog synth) vs a power supply voltage, which is steady positive voltage (there are negative power supplies too).
It is not recommended to use TRS cables on expression type equipment. With an expresion pedal, the ring carries a positive voltage that is sent to the pot of the expression pedal. The pot acts as (is) a voltage divider. The divided voltage shows at the tip. When you insert a TS cable in an expression jack, the ring voltage is safely brought down to ground by internal circuitry of the host.
Now if you use a TRS cable, the ring voltage supply is sent to the client device, which itself may carry a voltage. It is probably not harmful, but still, you need some mixing circuitry to properly mix two live voltage sources. Actually, if the client device is TS only, you are screwing up the ground level.
Measuring fluctuating DC is hard on a digital multimeter because the averaging time of the meter is higher than the usual LFO rate range. Use an analog needle meter and a slow lfo rate. If there is negative voltage present, it will bump the needle below zero on the negative portion of the LFO wave.
Using the offset knob to raise voltage on the CP-251 will do just that, raise voltage above zero. It will not sound the same since you are modulating the internal voltage level of the filter or pitch cv upward only.
You will not fry your LP or SP. It is built to safely handle any voltage in the -10 to +10 volts range.
Although the Minitaur and SubP seems to share a similar design, the literature is confusing. The Minitaur lit states that the CV inputs are positive only, while the SubP lit actually warns against negative voltage. All is safe with the Minitaur regarding negative voltage handling. If I had a SubP, I would not be afraid of negative v’s and go right along, but that’s just me. I can not officially recommend it.