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You can even sometimes get their nose through the gap without stunning them
It's more difficult in Reach because Jackals are right-handed rather than left handed. Easier to do with a full auto weapon, as a single hit on their weapon hand will make them recoil. Auto rifle works wonders, swap to mag, DMR, or needle rifle, and pop them.
If you don't have a precision weapon, grenades are excellent for taking out Jackal lances, as they move slowly and don't evade very far.
As for what you said, OP. I wouldn’t know what to tell you. Are you experiencing this in firefight? If so, it could just be you’re dealing with some wack latency issues. Otherwise, the only problem I can think of is bloom or that you’re too far away from them for bullet magnetism to activate.
Just keep practicing, you'll nail the hand-shot and the animation is very consistent even if it's kinda fast, then you'll start nailing the head-shot.
Grunts are almost entirely RNG, I still can't consistently 1-shot them DESPITE being very consistent at jackals, they move in just the right ways to piss you off and waste ammo.
AR's being 32 is a subtle teaching element, You want more precision weapons to be your bread and butter and you'll want to burst fire anything automatic due to punishing spreads.
As for the non-damage; Reach is kind of a Frankenstein's monster of mechanics; most weapons are hit-scan so your Reticle is more a cone than a precise dot, and it still uses the classic FPS movement bias in aiming, so being parallel to the target is more helpful than circle-strafing, and the aiming itself (except for 1-click killers such as the Sword, Shooty, and Sniper) is more favorable when you're fixed on the target. This is the core reason why Controller vs. KB+M is a thing and also a reason why the "advantages" are so misplaced.
I was more or less explaining how damage works on certain frames. I'm not trying to headshot grunts with the AR, like you suggested but as it was explained to me giving an AR 60 bullets would not affect it's damage output. Since it's damage output is also affected by the grunt's flinch animation, and I was speculating that might be why some headshots don't register as kills. Because flinch animations have a small invincibility window where the enemy doesn't take damage.
They always recoil on legendary if you hit them with a pistol or DMR. Not sure about LASO, though.