Reconfigurable intelligent surface (RIS) has emerged as a cost-effective solution for green communications in 6G. However, its further extensive use has been greatly limited due to its fully passive characteristics. Considering the appealing distribution gains of distributed antenna systems (DAS), a flexible reconfigurable architecture called reconfigurable distributed antenna and reflecting surface (RDARS) is proposed. RDARS encompasses DAS and RIS as two special cases and maintains the advantages of distributed antennas while reducing the hardware cost by replacing some active antennas with low-cost passive reflecting surfaces. In this paper, we present a RDARS-aided uplink multi-user communication system and investigate the system transmission reliability with the newly proposed architecture. Specifically, in addition to the distribution gain and the reflection gain provided by the connection and reflection modes, respectively, we also consider the dynamic mode switching of each element which introduces an additional degree of freedom (DoF) and thus results in a selection gain. As such, we aim to minimize the total sum mean-square-error (MSE) of all data streams by jointly optimizing the receive beamforming matrix, the reflection phase shifts and the channel-aware placement of elements in the connection mode. Numerical results demonstrate the superiority of the proposed architecture compared to the conventional fully passive RIS or DAS. Furthermore, some insights about the practical implementation of RDARS are provided.