I know of no semi-auto rifle which will NOT hold minute of torso within any rationally-viewed "self defense" distance. Most will easily hold minute of cranium. Necessary accuracy mostly depends on the skill and adrenalin control of the shooter.
Pretty much, any halfway-decent ammo will suffice for defense.
Modern R&D has made the .223 a reasonable deer cartridge; it's always been useful for coyotes and smaller animals.
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