It would be a great help helping you if we knew the size and composition of your "group". And where "between Kings Cross and Russell Square" you need to go. I won't tell anyone - promise.
As mentioned above, if you take the Piccadilly Line to Kings Cross or Russell Square you will join an empty train (as you would also on the Elizabeth line but be aware that the Elizabeth Line is now the most used transportation in all of London and you will likely be on it with several new friends, and that Terminal 5 is not on the Elizabeth Line if you need it, free Heathrow Express to Terminals 2/3 and change to Elizabeth Line there (which originates at Terminal 4) ) at the airport, and while it may fill to a degree on the way into and through town you will as suggested above be in position and seated with the luggage in the nook.
Kings Cross St Pancras tube station has lots of lifts so your group can stay together instead of strung out down the escalators.
You don't say which day of the week you will be landing at 9 am, I will say that since Covid the flows on the tube and into London have changed quite a lot and have to a large degree remained since. No longer are many workers working M-F, there are so few on Fridays these days TfL have recently made Friday's fares all off-peak (but i bet that Elizabeth Line from Heathrow are still priced at peak, as all Elizabeth Line fares to or from the airport are).
Thursday is now the new Friday. Tuesday is the new Monday, and Tuesday is now the busiest day of the week in London. Vast numbers, though, work some or all of their week from home.
So be prepared for crowding but not what it was, and with your flight arriving so late in the morning I think you'll be fine. But do share us the shape of your group please.