Just an update on what I have learned in case it helps anyone else:
tcp_lin and tcp_rot are discussed more here. Basically they are experimental features that I don’t need to worry about.
I ended up creating a xacro file for my gripper and adding it to the za6_macro.xacro file in an overlay workspace. I also added additional groups to my srdf. This way I can plan directly to the frames I desire, they are consistent with my gripper and are not children of tool0. So now I do not need to plan to tool0 every time.