There's nothing wrong with upmixing per se, I think you may have read people moaning about certain algorithms. Dolby is quite restrained, whereas DTS upmixing will have dialogue and the lot coming from height channels in it's over-baked efforts to upscale to 3D sound.
Also, a lot of movies encoded as "stereo" would be more accurate if you did upscale. Dolby Stereo was 4 channels of audio matrixed from 2-channels, so it's not accurate to listen to those as 2-channel.
As for what mode - you can use voice if you like but generally I'd say just put it on movie and leave it. That's likely to be the one altering the sound the least.
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