Wire-arc additive manufacturing (WAAM) has emerged as a critical tool for remanufacturing industrial components. A limited understanding of this technique for quality product manufacturing has hindered its utilisation for industrial applications. This study reports on the optimisation of WAAM process parameters for AISI 4130 steel towards remanufacturing of high-quality products for industrial applications. AISI 4130 steel was selected for this study due to its high strength-to-weight ratio, excellent weldability, and suitability for the WAAM process. Taguchi’s Grey Relational Analysis (GRA) used four factors and three levels in the multiple response optimisation process. The study considered process parameters voltage, current, travel speed and gas flow in the gas metal arc welding (GMAW)-based WAAM technique. Analysis of Variance (ANOVA) results show that voltage, travel speed and gas flow significantly affect material deposition. Voltage had the highest significance (31.61%) compared to other parameters. The optimised process parameters were found to be: voltage - 23V, current - 100A, travel speed - 350mm/min, and gas flow - 10L/min. These parameters resulted in tensile residual stresses of 25 ±74 MPa, microhardness of 171.4±12.2 HV0.3, and a relative density of 98.21%. The microstructural analysis reveals existence of predominant ferritic and pearlitic colonies. This is due to compounded thermal stresses during the deposition process and alloy composition resulting in tailored microstructure and mechanical properties. The study provides some insights into the WAAM remanufacturing process for producing highly quality industrial components.