Is it possible to design something like this using Grid in WPF? Design columns is easy, but what about rows? Or is there any better solution, like another container? Imagine each rectangle as module (GroupBox).

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Make an outer Grid with two columns. Within this grid, place two other grids, one per column. This will lead to the desired layout.
Here an example of how to do. Please note that I have placed some stars for the heights. Change them accordingly to your needs.