In essence, you're working with two separate surround channels. One ground (ear) level, and the other height. I **think** Atmos will currently do 7.1.4 but I'm unsure about that. Auro is presently 5.1.4. VOG is optional in the setup. In my case, if I were to use the VOG, I have to reassign my second sub to the VOG and then use a Y cable for my subs, but I would not have the ability the nicest flavor of Auydessy has with regard to independently adjusting each sub. (This on Marantz SR7011.)
If you are running a 7.1.4 setup, the rear surrounds will stop working when you select Auro.
Now, as for Auro in and of itself, I personally am very happy with how it treats music. It seems to do well with 5.1, 4.0, and 2.0 music. Unless it just happened to be the discs I have played, it does not seem to do well with 5.0. For that, I have been using DTS Neutral X. With movies, I have trouble noticing any difference with an Atmos encoded disc when using either Atmos or Auro. I'm hoping that some Auro encoded discs will become available sooner than later, as some really tout the attributes of the format. For pretty much everything else, I have been using Auro as the output format. Glad I got it.
Hope this helps.