In my experience, << { } \\ {} >> will sometimes for for a short section with
multiple voices, but if there was a slur already under way before the voices
split or a slur that continues after the voices merge, it won't work. In
that case, << { \voiceOne } \new Voice { \voiceTwo } >> \oneVoice works much
better.
Unfortunately, if you're setting something like a fugue that has a voice
moving between the two staves, manually setting the stem direction seems to
be unavoidable. Defining a few variables helps:
goUp = { \change Staff = "right" \stemDown }
goDown = { \change Staff = "left" \stemUp }
Don't forget \stemNeutral when the extra voice leaves the staff too.
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