His insta heal is big, but only when ally is in his circle. Firstly you and "your allies" should pay attention to "his allies" and them occupy with something. Then when Grover is left alone it's your chance to challenge him on solo fight.
If you happen to come across Khan, use the environment to your advantage. Get hits from a distance, run around, and get more hits on him. His relatively small shield lets you get more shots at him, too.