204 AR, please don't take what I'm about to say as an insult, trying to boost my own ego, blow smoke up your backside, or me being a know-it-all....it is simply a view point of mine. I am a Primary Marksmanship Instructor in the Marine Corps, it is an additional certification on top of my primary job. One thing that we have to teach our Marines is consistency in the marksmanship fundamentals, muscle relaxation, trigger contol, bone support, natural point of aim, breathing, etc...
In your case, firing from bipod or unsupported, if you change the pressure that you palce onto the rifle it will change the POI. However, if you practice the fundamentals of marksmanship and place the same ammount of pressure, regardless of shooting position, the POI will not change.
If you look at the attached pictures of my rifle you will see my vertical hand grip which has an internal/push button bipod. This is what we have issued to us now and with all of my range time, I notice no difference in my POI. Now, we are not allowed to use the bipod on the qualification course but we use it in our standard training. This training includes close quater firing, various range firing (100 to 600 yards), target transitioning & aqusitioning, etc... My rifle was BZO (Battle Site Zero) at 300 yards on the KD (Known Distance) Qualification Course and has not been changed since.
My zero has held true on ever range, qualification and training, and I have fired in every position from offhand to bipod supported prone. Additionally I have fired the same rifle with the same zero with nothing but my cammies worn and also with all of my issued Battle Rattle (Body Armor, Kevlar Helment, magazine pouches, etc...)
Again brother, I'm in no way trying to insult you or discredit your knowledge or abilities...I'm just offering my input and expirence.