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Okay, that's doable:

awk '(NR>1) && (X2>=$2) && ($3>=X1) { next }; { X1=$2; X2=$3 } 1' data

Which amounts to:

awk '
# If this isn't the first line, and it intersects the range X1-X2, skip...

It's an expression that would always evaluate to "true" (as would 2 (but 0 would not)), thus performing the default "action", which in awk is to print the line. So, it's shorthand for { print }. I...

In awk:

$ cat file
Group1 Group2_3_1 1_2_3_4_5_

$ awk '{gsub("_", "", $3)}1' file
Group1 Group2_3_1 12345

awk '{for(i=2;i<=NF;i++) {if($i>=6)c++}} c>=5 {print; c=0}' file


Explanation:
for(i=2;i<=NF;i++)

Loop through field 2 till the last field.

{if($i>=6)c++}}

If the value of the field is...