I have a Matshita UJ-840S drive in an Acer TravelMate 4604 laptop, and presumably this is the same drive under a different brand. I have found no way to enable booktype DVD-ROM for DVD+R media. I also haven't found any firmware upgrades anywhere for this drive.
If you have drives/players that don't accept DVD+R media without booktype DVD-ROM, then the best workaround is to use DVD-R media instead.
I'm sure that's not the answer you were looking for, but it's the best I can do.