You don't need an amp to run the rear center and sub. Expecting one amp to run both of those is a bad idea anyway - the sub wants 250+ watts, almost certainly at 4 ohms. That surround speaker is really only going to use 10-50 watts max, at 8 ohms. If you buy an amp that can do 250 solid watts on one channel, the other channel will be wasted on a surround speaker - you'd be better off bridging both channels of that amp into your sub and using a cheaper, less powerful stereo amp for Zone 2. The Onkyo rep you spoke to didn't know what he was talking about it seems.
Your sub needs its own amplifier. Come to terms with that.
If you want to use 6.1 AND the bar speakers simultaneously, add an amp for Zone 2 and not for the rear surround.
So you need a sub amplifier, and you can optionally get yourself a Zone 2 amp. If you don't get a Zone 2 amp, your rear center surround will be disabled when using Zone 2, which, in reality, you probably won't even notice. And a $20-$50 16-20w class-T amp is really all you probably need for Zone 2 if you want to go the separate amp route.