A number of months back, I talked about the nVidia Shield TV Pro box and explored Auro-3D which is another technology for reproduction of immersive sound with height layers. As noted in that post, I've seen comments over time about the use of Auro-3D's "Auro-Matic" surround upmixing algorithm for music playback as being the preferred setting compared to Dolby Surround Upmixer [DSU], and DTS Neural:X being the other two common options in modern AV receivers. As a reminder, while Auro-3D could use object-oriented tools in production, it is delivered as channel-based playback rather than the hybrid channel/object systems like Dolby Atmos and DTS:X.
Having now owned my Integra DRX-8.4 for about a year and listening for myself, I concur that for 2.0 and 5.1 upmixing, I tend to prefer using Auro-Matic to expand the 3D image into the height and surround channels. For most music material, Auro's method is noticeably "fuller" in presentation without sounding harsh. It also has more options as we can see in the settings menu for Onkyo and Integra receivers that have this feature: