Is it expected to always have a little bit of chain rub on a 2-by at the extremes?

I have tried adjusting a GRX-810 front derailleur (with drop bars) for a few hours now, following Shimano's manual. One thing that stood out to me is that it instructs the user to adjust both the H and L limit screws with the chain on the biggest sprocket at the back.

I followed the instructions, but when adjusting the H limit screw, if I want no chain rub on the big chain ring, the H limit screw has to go in all the way and then some.

Then after this step, when I try to adjust the L limit screw, the H limit screw is now affecting the small chain ring, because even if I undo the L limit screw all the way, there are still chain rub on the inner side. I have to turn the H limit screw out while on the small chain ring to get the derailleur to move in. Now I'm back to step one, where there is chain rub on the big chain ring.

Also, now without the H limit screw all the way in that it affects the small chain ring, the derailleur doesn't move out enough when shifting to bring the chain up to the big chain ring. I'm essentially stuck with either a 1-by configuration or chain rub on the fastest and slowest gear parings.

Any ideas?