When I had a URX III I was faced with kind of the same problem; how to mount a VFG. I first tried a railed Magpul vertical grip, but found the Magpul version for the MOE handguard worked better. I filed down the two nubs and just used one of the magpul backer nuts and one of their screws. Never had a problem with it twisting. It was hard to even intentionaly twist it.
My favorite most comfortable grip option with the naked rail was a AFG-1 fitted as a direct mount. The AFG-1 has the higher side walls near the front and was very comfortable on the slim rail. That being said, I never like the AFGs on thicker or taller rails. They just never felt right, but on a minimal type rail they are very nice.
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