Linking child view controllers to a parent view controller within storyboard

As something of a combo of Caleb and Matt’s answers, I did:

-(void)prepareForSegue:(UIStoryboardSegue *)segue sender:(id)sender {
    if ([segue.identifier isEqualToString:@"cpdc_check_embed"]) {
        self.checkVC = segue.destinationViewController;
    }
}

…where checkVC is a property on the container controller:

@property (weak,nonatomic) PXPCheckViewController * checkVC;

You just have to set your embed segue’s Storyboard ID to whatever you want (in this case, cpdc_check_embed):

…and then check the identifier in -prepareForSegue:sender:.

Still not an outlet, but cleaner than Matt’s (IMHO) and more specific than Caleb’s, and you still get a nice-looking storyboard: