I believe 6 feet off the floor is about right. You're right, voice matching for rears is not that important. Even with DD and DTS rears still mainly serve as sound effects speakers.
Ideally, the rears are placed further apart than the main LR speakers. I've got my mains about 8 feet apart in a 15X13 room, with the rears in the back corners (so 14' apart), about 6 feet up, angled in 45 degrees. With the sofa on the rear wall, that keeps the rears well away from our ears, allowing for good ambient sound.
Ideally, the rears are placed further apart than the main LR speakers. I've got my mains about 8 feet apart in a 15X13 room, with the rears in the back corners (so 14' apart), about 6 feet up, angled in 45 degrees. With the sofa on the rear wall, that keeps the rears well away from our ears, allowing for good ambient sound.