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I don't have any personal experience with grbl, but I think that any firmware that is designed to work with FDM printers or CNC machines would need to work this way in order to ensure smooth movement and to enable features like arc detection and arc compensation to work.
I think in any case, the G4 command is safe to use, and probably the recommended conservative thing to do no matter what, since it seems to be implemented in all common firmware:
Another thing you can try is adding a G4 (dwell) command after your G1's. Stock marlin buffers G1 commands and will return "ok" when the command is buffered, but not yet executed.
The G4 command will wait until all buffered movement to complete before returning "ok", so you could try something like
G4 P100
to wait for all movement to complete plus 100ms before returning "ok".
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