Note this is applicable to using the latest nVidia beta drivers with AO support added to TESIV profile.
AO only looks its best when other settings are in place to maximize the quality too. This includes eliminating some shimmer effects. Remember if you have trees accepting shadows this can be a big source of perceived issue, when in reality it's the junky blocky shadows of the game itself that is doing this in the 1st place. I use that setting because I like it giving the trees a bit more depth so I will reference those settings too.
On my rig I did extensive testing in the woods outside Riften for the hit and results of quite a few variations. The final settings I settled on giving max quality and still having stellar 60FPS is the following:
(note the hit I see on the steps of Whiterun outside Dragonreach is minimal compared to normal).
In SkyrimPrefs:
[Display]
bFXAAEnabled=0
bTransparencyMultisampling=0
iMultiSample=8
MaxAnisotropy=16
bTreesReceiveShadows=1 <-- Source of some perceived shimmering due to blocky edge shadows, in particular flashing across leaves. That's the games shadow junk not AO fault.
bDrawLandShadows=1
fShadowDistance=6000 <- Default is 4000. Can crush a rig if huge number. 6K pushes them out to a point I notice fade-in much less while still excellent performance.
fShadowBiasScale=0.25
iShadowFilter=4
Load nVidia Control Panel:
Select the Elder Scrolls 5: Skyrim profile.
Antialiasing - Mode = Enhance the application setting
Antialiasing - Setting = 2x (having nVCP match the game 8x will produce huge extra load for no gain. Just let the game do 8x since it actually works nice)
Antialiasing - Transparency = 8x (supersample) <-- very important for total quality.
Maximum pre-rendered frames = 0 (<-- max reduction in input lag if your system can swing it. If it can't, slowly increase this until you reach lag / performance balance)
Apply the settings and close nVCP.
Load nVidiaInspector:
Load the Elder Scrolls 5: Skyrim profile
Under Common change only this:
Ambient Occlusion setting: High Quality.
Click Apply Changes and close nVI.
Open nVCP to verify and you should see Ambient Occlusion now says Custom.
Done. Close it. Go test it.
I experimented for about an hour with a very large variation of settings on / off / increase / decrease values and the above is the best, for me, in quality and performance.
My results are now excellent shadow depth on wide range of everything, including swaths of grass that now have a "thickness" to them due to the AO affects.
It may seem to dark for some but I'd rather have it dark with thickness than without it in my own comparisons.
Edited:
Added section [Display] for clarity
Added 2 extra shadow related settings I have that aren't defaults.

(technically "The Elder Scrolls V: Skyrim")