If you want to avoid z-mode, keep only 2 RG groups. RG0 for control plane and RG1 for dataplane. Incase any interface fails the dataplane(RG1) will shift to other node.
If you want to failover of RG0 as well, you need to enable interface monitoring under RG0 as well, but this will cause your VPN/dynami routing protocols to restart and can cause outage.
But RG1 failover willnot cause any outage and there wont be z-mode as complete dataplane is active on one node and only control plane is active on other node