Up to now, when working with WCF, I have always been exposing the whole either EF generated entities, or POCOs(by modifying the T4 template to include DataContract and DataM
First of all you should never expose the whole entity as a data contract, as it is a domain object, not the data transfer object. Not just in that particular situation. Never. Now you're creating a confusing inconsistency between entities which do have a DTO and those which don't.
Returning to a question: AutoMapper seems to be pretty ok. You just have to define 2 mappings. And probably Ignore() missing properties when mapping back to entity.