With 5.56 I would not shoot anyone just once (unless a good DNS head shot with lots of pink mist) and move on to have a wounded man with a gun pissed at me. One reason I like binary triggers so much especially when I bought most of mine before the Las Vegas concert shooting where binary triggers all jumped $100 in a week tjen two weeks later were $150 more plus a two to four week wait.
In the dirty south where most are wearing t-shirts eight months of the year, a fleece jacket 3 months and maybe a month of wearing an actual coat combined with the ammo I carry a 5.56 double tap is going to put 90% down. There are the 6' 7" 275 pound weight lifters all jacked up on steroids and testosterone but M855a1 is an entirely new military projectile, Mk 318 Mod0 and other 5.56 rounds are not your Vietnam era projectile. If I was running M193 everything would get shot three times before transitioned. Faster to tap that trigger another time while on target than come back to it when it crawls off the ground. I know a lot of Vietnam vets that will not carry 5.56 rifles or 9mm handguns. I never carried a 9mm (have an always growing collection of Hi Powers) for defensive use till about a decade ago when Hornady Critical Duty and 147 grain SIG V Crown (massive wound channel for a 9mm subsonic round) but still carry a 45 acp or 40 Smith the most. Like 40 Smith because it blows through NIJ 2 body armor which seems to be the most common on cops and secondary aka used market.
Nothing inherently wrong with the 6.5 Grendel that a few premium parts will not fix. If spending for the Superlative Piston Drive Kit is out of price range then a JP High Pressure Bolt with VSeven improved cam pin holding it to a milspec Full Auto Bolt Carrier and your odds of it failing due to bolt failure goes way down and a spare bolt and cam pin should be in the pistol grip of most defensive rifles just in case. As to the average group size over at about any forum these days shooter had to run ten groups to get two or three they will post photos of. I seldom post group photos as often will catch crap over everything from "how many groups did you fire to get that one", "fine job of Photoshop work", etc so recently found an ancient Go Pro camera and $19 tripod and this fall (doc did not tell me 100% truth on recovery from my $15,000 hand procedure to fix Dupytrens Syndrome in left hand but sure I will be happy when the six months of no recoil on left hand compared to "can return to normal activities in about eight weeks.
We know what you have now, a 20" 6.5 that for a wore out older gentleman who probably beat himself to death getting old can still hold groups under an inch. That is a start. I would buy a 13.7" barrel put a Superlative Arms gas blow by adjustable gas block and add a pinned flash hider/supressor mount to make 16.1" from bolt face to end of muzzle saving you over six inches in OAL. Get the high pressure bolt and improved cam pin to run in both uppers and put the bolt/cam pin already have in your pistol grip so if bolt breaks (the JP will take a lot of rounds before you need to worry) then just do a quick field repair. Swap uppers as the mood strikes, you will be surprised when you shorten the front of your rifle 6.5" and stay over the 16" limit then keep it stored with stock collapsed or half collapsed. I actually practice with stocks collapsed as you never know when getting gun in firing position and sending a round is all you have time for and cannot mess with length adjustments.
When you assembled that rifle did you square the upper receiver? Did you bed the barrel in the upper receiver and what ft/lbs of torque did you apply to the barrel nut? It amazes rifles owners and sometimes me when they drop by with their upper and we take apart. Use just the parts they had but I square the upper, check the crown (sometimes touching it up) while have muzzle device off, put it all back together using my preferred bedding compound, torque barrel nut in the 40 to 50 ft/lbs range (where it feels happy and all lines up correctly) then finish assembly and tell them to give the bedding compound a full 24 hours to set.
Get calls or them stopping at house on way home from the range to show me their group size shrank 1/2" or more. Square the upper, bed the barrel and properly torque barrel nut along with muzzle device (fiddling at range have seen a rifle open or close group size by 1/4" just removing then installing to manufacturers reccomended. Over half the uppers people bring me admit they assembled without a torque wrench and many say entire rifle was built using a $19 armorers wrench. Send them to their vehicle with a torque wrench and castle nut adapter while they are here and most are off so much have to get a big wrench to remove castle nut and some that lossen with fingers. Get it all square, plumb and torqued to spec and it can change a rifle significantly. I have two sub MOA AR 15s built from parts people left when had a better barrel installed as fhat first one they ordered just never shot well. Usually turns out the LGS squared the upper and torqued the new barrel which the owner who built it first time did neither. I will take those barrels home and majority make good rifles and can only assume they had been improperly installed to shoot as bad as owner claimed. Then there are the large numbers of unlevel scopes fixed during a two hour "pit stop" as well.
I have never dissassembled and reassembled any AR 15 or AR 10 upper owner did not say it shot measurably better. Have taken in rifles that only fired half the time the trigger was pulled and shooting 4" or larger groups that left 100% and shooting sub MOA. See trigger springs installed improperly, hammer/sear engagement only touching across 30% of surface, disconnectors wonky and more. Had one guy come in LGS with a OEM rifle purchased at another LGS, when got it home and unboxed (I do that in the store) he had trigger pull that varied from 7.1 to 8.25 pounds pull on our gauge. Other store said he did something to screw it up and sent him away. I had nothing to do so put it on the hammer and sear jig to see multiple engagement points improperly fit so squared them all, one of the trigger pins was bent. Not enough if played with it and how it was clocked didn't go in but as played with it trigger pull still walked. Put in a new set of trigger pins, a JP 3.5 Lb Enhanced Spring Kit, properly lubed and his 6.75 to 8.25 trigger went to a dead flat 3.50 pound pull with consistent take-up/creep and super clean break. It's owner thought it was the greatest trigger he had ever used and when asked how much had the manager ring him out $7.99 for the spring kit (as priced on package) plus $1.95 for the pins (not the bulk pack by 100 count but marked "premium trigger pins" in a two pack) plus sales tax. Guy asked about labor and told him A: we do not charge labor to install parts bought in store plus B: I was just hanging around so no employees spent company time so labor on the "trigger job" was free.
The guy must have known 1,000 people with crappy triggers and whenever asked online everyone recommended a $200 custom trigger for their $399 AR 15. Owner did not have time to fool with them or keep up with all the odd parts some triggers needed so they would have someone come in wanting a trigger, we would arrange a time on Saturday and for almost a year I spent the majority of two Saturdays per month doing $49.99 trigger jobs. My only parts cost was $6.50 for the JP spring kits at the time so at end of day owner paid me $37 per trigger (unless we had eight booked we moved it to next weekend) and most days did a dozen at least as set up my own little work bench out on the main floor, not in back where they did wrenching and always had one to four or five say "running home real quick, do no leave till I get back". Had some days would turn out two dozen $49.99 trigger jobs. I made $30 each, owner made $10 each for me to sit between guns and archery.
We kept booked two Saturdays per week over a year then LGS owner found a drop in he could sell for $49.99 where he was making $20 on the part and charging $10 to install as always could find someone even if it was me to drop them in. He used me for a lot of labor as we had a rough price guide, kept a list and instead of getting paid took my money in store credit. I even built entire rifles doing the uppers at my shop then assembling the lowers and mating them in his shop. For myself, family, friends and such bet I have built over 300 ARs not counting the ones had to tear apart then reassemble. At one time I was getting two to five "problem" uppers in the mail per week. Goal is by winter let the word out am back to troubleshooting problem uppers and building customs. Did build one just before hand surgery as buyer could not even get a barrel in the pistol caliber he wanted and was baffled on building a blow back versus a DI. Entire point of retiring was to shoot and build guns. I have probably a years work just to assemble FAL, G3, G21, CETME kits, 1911s and 2011s plus custom ARs, Mini 14s,10-22s and others. The 3.5 years was in bed was buying more kits and parts than if I was working as had nothing to do but search out gun stuff to buy.