Hi Haoran,
Great question. Firstly, a relay GRIN lens generally will be slightly shorter than 0.5pitch or 1pitch. This is due to wanting the intermediate image to be formed just beyond the top surface for the relay GRIN lens.
One could imagine using a plane glass cylinder instead of a relay GRIN lens but this effectively reduces the NA of the system. In other words, GRIN lenses can transfer light across a long distance without limiting the angle of accepted light.