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I bought a midlength half quad rail from Rock River Arms and I like it a lot. It is free floated, has a full rail on top but only a small section at the front on the sides and bottom so it is the best of all of the styles to me. I agree there is not much to attach but lefties and righties need lights on different sides, a grip and/or folding bipod on bottom will see all 4 rails being used. I agree with the Magpul folding BUIS, have them on my SCAR and AR15. AR has a Nikon M223 scope for the main optics as it is intended for distance. The SCAR has Eotech XPS2 and Eotech 3x magnifier as the main optics since it is SBR and intended for CQC.
As far as bipods go I saw a setup at a recent show where the legs were independant and attached to the side rails, this looked way more stable and I have been looking for them seperately sold but cant locate them as of yet. I use a standard 2 point sling on the AR but went with single point on the SCAR, cant say as I prefer either one as best but slings are very subjective IMO.