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If I have a character who has proficiency in heavy weapons but not in grenades, and they fire a grenade launcher, do they receive a non-proficient penalty to attack or not?
Yes.
No.
They are making an attack with a heavy weapon that uses grenades like rounds.
Weapon specialization won't apply since the damage is per the grenade, but they only need heavy proficiency.
Oh I misread. Agree with Kamyr.