AMUshooter,
Excellent post with excellent presentation.
My share. I always zero my weapons from that stance, which I'm shooting most. That means magazine support for longer ranges. When I shoot kneeling or standing, I shoot to the shorter ranges and the POI difference doesn't matter so much. I adapt to the situation and if necessary, change my POA to gain the right POI.
Friend of mine always zeroed his .223 CZ bolt action hunting rifle from the bechrest bech because that "is the most stable rest found from the shooting range". And when he got hunting birds, he was shooting with bipods from prone position or without bipods from backpack rest. And shooting birds is that kind of sports, where few centimeters mean a lot. Every time, he found that his POI was different than his POA when he got out to the forests, and was caught thinking that were there something wrong with his rifle, scope or ammo, compared to the last shooting range trip. I said no, you just shoot from different position and from different rest than you zero your rifle.