If you're running 7.1, the UPA-7 would be your best bet. If you only have 5.1 and plan to keep it that way, the XPA-5 might be a better option, however the UPA-5 is also a nice addition for a 5.1 configuration.
I previously owned a Yamaha RX-V2500 and while the built-in amps were relatively solid for a small to mid-sized room (less than 3000 cf), I certainly did notice an improvement in detail with external amplification for the front soundstage (LCR), particularly with two channel and hi rez music. Granted my listening area is on the large end of mid-sized, I felt it was worthwhile when listening at higher volumes (85 dB or more), even for short periods. Speakers and you're listening environment are going to have the biggest impact on how things sound, but a good receiver, pre/pro and amplification can make modest improvements.
I've always been of the mindset that assuming you can afford it, the more amplification (within reason), the better. If you're listening area is less than 3,000 cf., I'd suggest the UPA-7 or UPA-5, depending upon whether you're running 7.1 or 5.1. You could even use a UPA-5 and the on-board amps of the 2400 for the rear in a 7.1 configuration as there's little power demand for the surrounds and rears in most setups. Worst-case scenario, if you get one of Emotiva's amps, calibrate using YPAO and/or SPL meter, do some listening tests with movies and music you're familiar with and find it doesn't make a worthwhile difference, you can always send it back w/in the first 30 days and you're only out return shipping. I have a feeling you'd hang onto it, though...

-TD