Depends, do you want one or two people to operate it? I'm assuming you want to be able to adjust it mid-cook? That'd be difficult with some of the options presented so far. You can do the set screw, but that SOB is going to get hot, too, so make sure it's bulky enough to operate with gloves. You'll also need some sort of marking system so each leg is the right height.
The easiest to build is to build a Modified rack Of the type like you used to see in grills that you found in a public park. Easily done by anyone with basic welding knowledge with a few pieces of square tubing and some angle iron. Easy to just move it up or down a notch. Something like this, but in stead of cutting the holes out, you build four racks of angle iron. On this you adjust the grate instead of the legs.
https://premierpolysteel.com/product/pedestal-outdoor-grills/The best way and easiest to operate in the future would be to make a gaucho/Santa Maria grill with a wheel to crank it up and down, but that doesn't meet your material requirements. Something like the ones found here:
https://www.smokingmeatforums.com/threads/santa-maria-grill-question.156254/