If you don't have a problem with the 4700 delivering enough power, then an amp isn't going to change the sound quality of the system. A 2002 at 375@ 8 Ohms is probably extreme overkill for most systems, certainly for adding height channels, probably even for most mains. Unless you have some really crazy low impedance speakers, that's watts you'll never benefit from.
If you can reassign the amps for the main channels to something else, I would put the amp on the main pair and reassign amps to height channels. If not, then a 1002 or similar would be more than sufficient.