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It is better to not rest any part of the gun on anything but your hands. You might shoot a decent group to POA when rested, but then shoot that same load unsupported and that POI will change. Using a rest is fine for load development, but I always check my zero in the same manner that I intend to employ the gun.
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But that's apples to oranges isn't it? If you are strictly testing how small a group a gun will shoot, use whatever method will give you the smallest group, even if further from zero. Once you know how a particular gun and load shoots, you can adjust the sights or your aim accordingly.