Hi Hemi, personally I like to install things so that they can be easily reversible, in case you have to move out and restore the area. On my pier I have used this type of concrete anchor, strong but easily removed.
https://www.bunnings.com.au/ramset-1...nchor_p2260285
Just put some washers under the base plate bolt holes to shim it to level, you will probably find that it will be solid enough without grout. If you don't want to smash out a tile you can drill a hole through the tile with one of these without cracking the tile.
https://www.bunnings.com.au/p-n-10mm...l-bit_p5710034
Cheers Rick