A bit more info on your setup might be useful - there are multiple factors that could be limiting your audio here.
What was the source - OTA channel on a HDHomeRun or something on TV Everywhere?
For me, the best fire stick settings are simply in Settings > Display & Sounds > Audio > Surround Sound and I chose "Best Available" (as selecting the wrong one here for your receiver can limit it to just 2ch stereo.
If the TV channel is only broadcasting in stereo for some reason, your receiver may have the option ('DSP') to be put into a Dolby Pro Logic II mode. This does wonders of tricking a stereo signal into 5.1. You wouldn't want it on all the time, as it's not a true and accurate surround signal (e.g. for movies etc) but it's a great option for broadcast TV.