Minimal gRPC service-to-service config example with health checking

Envoy is impressive, and its documentation is far-reaching, but the wealth of configuration options means its difficult to know if you're setting things up right. In my case, all I want is automatic health-check driven connection draining to ensure zero-downtime deploys. Yet after setting up an SDS server, health check listeners, retry policies, and more I still see requests being forwarded to Envoy servers that are returning 503's.

Has anyone put together a minimal configuration example that provides what I'm looking for? I know that gRPC is a bit of a special case but I suspect many folks would love something simple to start with, as opposed to the extremely complex configs on the documentation website.

I should note that I'm running Envoy on both the client and server.