You can do the geotechnical engineering, if you feel like buying the proper equipment and running the proper tests. Since you are on expansive soils (that is what is meant by heaving) you will have to run a triaxial shear test as opposed to a Standard Proctor Test
A triaxial test chamber and associated control panel should run somewhere around $10,000 USD
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This is the same reason why it advised to not add fill, but dig down to undisturbed soil. You CAN add fill and compact it, but it is not as easy as renting a vibratory plate at HD and "packing it real good". There is a whole testing method that is used to determine the strength of the soil, and compare that to what needs to be supported. It is not something that somebody is going to do on their own. This is stuff that I would not attempt to do without access to a licensed engineer and a qualified lab. I used to do this sort of stuff (I was a field engineer for a Geotechnical Engineering company many, many years ago. I worked on foundation design, earthen dams, pile driving, and septic system planning among other things. It has been a long time since I was in that field. I would not attempt to do any of these tests myself anymore.