The SEPM knows which group your client is in - thats a feature from RU6 onwards and will always place it back into the same group, unless you disable the registry keys.
If you must do this manually, then you should be able to achieve it by deleting the following registry keys:
HKEY_LOCAL_MACHINE\SOFTWARE\Symantec\Symantec Endpoint Protection\SMC\SYLINK\SyLink\CurrentGroup
HKEY_LOCAL_MACHINE\SOFTWARE\Symantec\Symantec Endpoint Protection\SMC\SYLINK\SyLink\CurrentMode
HKEY_LOCAL_MACHINE\SOFTWARE\Symantec\Symantec Endpoint Protection\SMC\SYLINK\SyLink\PreferredGroup
HKEY_LOCAL_MACHINE\SOFTWARE\Symantec\Symantec Endpoint Protection\SMC\SYLINK\SyLink\PreferredMode
Changing sylink or using sylinkdrop is not the best way to move a client between groups - you should do it from the SEPM.