Your confusing a House action with a Senate action.
Impeachment takes place in the House (the Grand Jury phase). Articles of Impeachment are passed to the Senate who hold trial and vote to acquit or convict.
Impeachment is only a stain on the legacy if Senate votes to acquit.
No, I’m not confusing it, although maybe I’ve been a bit sloppy with terms.
Impeachment takes place in the House, as you say, and then goes to the Senate for trial. The Grand Jury/Trial analogy is correct.
But, it takes conviction in the Senate to effect removal from office. And, that would be politically impossible, regardless of whether a lockstep Dem majority (also unlikely) voted to impeach and move to trial.