I think you're overthinking.
I raise KQo and AJo UTG in 6max. ATo i pitch, ATs I raise sometimes.
I would raise KQ and AJ anything after UTG+1, and ATo from middle position, no matter how many limpers. Just be sure to increase 1BB per limper to your raise, and pitch dominated shit like KQ, AT to a position reraise. Best way to lose money is to play easily dominated hands out of position.