I'm not implying Dolby enabled speakers "should" be used, just that newer AVRs can use them with Auro. I personally do not care for bouncy speakers.
Auro is basically a 5.1.4 layout and other than the side height speakers being on the wall instead of the ceiling, it's pretty darn close to the Atmos layout. Normally, you would put side surrounds somewhat behind you with 5.1 bases so it's really pretty close. In a 7.1 base, you can change surround height to rear height (considered less optimal). This layout again works with an Atmos layout just fine, but the rear height speakers are no longer right above the side surrounds (this probably affects the dual-quad miked recordings accuracy, but for film soundtracks it's not so terrible). I don't think my older Marantz SR7010 can use enabled speakers, but my 7012 can. I personally do not use them.
I use a hybrid layout with a switchbox that lets me do "true" Auro-3D 9.1 with a couple of button presses or I can use rear height and extract a top middle (normally used for Atmos/X here, but it will work with Auro as well). Since I use matrixed rear wides, the extraction method actually gets the alignment in a full length room fairly close and doesn't sound too far off from Atmos when playing a native Auro mix of the same movie compared to the Atmos soundtrack (no true rear beds, but the matrixed sides bring the image back much closer to the rear height location than without). With the switchbox, I can use just surround heights right above my side surrounds or I can play the rear heights (duplicated in parallel) at the same time similar to how an Auro 11.1 cinema does it. I have three rows of seating so that method or the extraction method both sound much better for rows 2 and 3 than the straight 9.1 layout/mode here, but that mode sounds great for the front row and MLP (actually they all sound good there).
I can also shrink my room to 5.1.4 instead of 11.1.6 and playing an Atmos soundtrack over that layout sounds nearly identical to the same soundtrack in Auro-3D native doing pure 9.1. I've found that the layouts affect the sound more than the actual mixes stored on the discs. Atmos has the advantage of rear surrounds, however.
As for the VOG, it's not needed (according to the inventor of Auro-3D himself) for most home environments (say 7-10 foot ceilings or thereabouts) as the surround heights can phantom image the VOG pretty well in that environment. You'd need to get the VOG higher up than the side heights would normally be placed (a cathedral ceiling room might be ideal to use side heights plus a really high up there VOG). Similarly, CH is phantom imaged between the two front height speakers.
Personally, I think the hype about the speaker layout differences in the home environment between Atmos and Auro-3D are overblown. If Auro had allowed Top Middle to be selected instead of "surround height" so both could use the same outputs (or even a switchbox if you want to actually use both "true" speaker locations), it'd be a lot simpler to do a 7.1.6 type layout for both. Since I use extraction for top middle, I don't have this issue. My side height speakers are only 20 inches off the horizontal path for ceiling top middle (which oddly is right in line in a 9.1.6 layout with the side surrounds) so the difference between them really isn't audible in my 12x24 room. I have rear heights on the ceiling in the back and front heights by the ceiling next to the screen in the front. Sides are dead middle of the room which is where the Atmos renderer expects them to be anyway. Thus, I've had no real issue doing a combined layout here.
The Denon 8500 would have given me problems both due to the above selection issue (you can save the saved Audyssey settings to a USB stick to get around it, though) and the 11-channel limit to DTS:X (all 17 channels work in DTS:X here since I extract them from the existing signals using the center output from a couple of 'Pro Logic" processors, one for each side. The 7012 is blissfully unaware.