If you don't mind, I'll reformulate your problem slightly. Let $X = ZA$, $B = A^2$. Then $XB^{-1} = ZA^{-1}$. We would like to know the number of integer solutions $U'(X)$ to the system of inequalities
$$
\begin{cases}|v| < X;\\\|\lambda v\|<XB^{-1}.\end{cases}
$$
Let $\lfloor x \rfloor$ denote the largest integer not exceeding $x$, and put $\{x\} = x - \lfloor x \rfloor$. Then
$$
\|\lambda v\| = \|(\lfloor \lambda \rfloor + \{\lambda\})v\| = \|\lfloor \lambda\rfloor v + \{\lambda\}v\| = \|\{\lambda\}v\|.
$$
Since $0 \leq \{\lambda\} < 1$, without loss of generality we may assume that $\lambda$ satisfies $0 \leq \lambda < 1$.
Suppose that $XB^{-1} > 1/2$. Then $0 \leq \|\lambda v\| \leq 1/2 < XB^{-1}$ is true for any choice of $\lambda$ or $v$, which means that $U(X)$ is equal to $2\lfloor X\rfloor + 1$. The same observation appplies to the case when $\lambda = 0$.
Suppose that $XB^{-1} \leq 1/2$ and $0 < \lambda < 1$. Denote the largest integer in the interval $(-\lambda X-1, \lambda X+1)$ by $k$. The fact that $\|\lambda v\| < XB^{-1}$ simply means that there exists some integer $n \in \{-k, -k+1, \ldots, k-1, k\}$ such that
$$
\left|n - \lambda v\right| < XB^{-1}.
$$
Verify that there are at least $\lambda X/2$ and at most $2 \lambda X +3$ possible values of $n$.
Further, each $\lambda v$ is contained in exactly one interval of the form $(n - XB^{-1},n + XB^{-1})$, whose length is $2XB^{-1}$. Verify that this interval contains at least $X(\lambda B)^{-1}$ and at most $2X(\lambda B)^{-1} + 1$ numbers of the form $\lambda v$, where $v$ is an integer.
We conclude that, when $X/B \leq 1/2$ and $0 < \lambda < 1$,
$$
\frac{\lambda X}{2}\cdot \frac{X}{\lambda B} \leq U'(X) \leq (2 \lambda X + 3)(2 X(\lambda B)^{-1} + 1).
$$
Otherwise,
$$
U'(X) = 2\lfloor X\rfloor + 1.
$$
Finally, note that $U(Z) = U'(ZA)$. Plug in $B = A^2$ and $X=ZA$ inside the above expressions and deduce $U(Z_1) \gg (Z_1/Z_2)U(Z_2)$.