Let $G$ be a discrete group with universal principal bundle $EG\to BG$, and let $X$ and $Y$ be left $G$-spaces. An equivariant map $\overline{f}:X\to Y$ induces a fibre-preserving map $f:EG\times_G X\to EG\times_G Y$ between Borel constructions, as in the following diagram.
$\require{AMScd}$ \begin{CD} X @>\overline{f}>> Y\\ @V V V @VV V\\ EG\times_G X @>>f> EG\times_G Y \\ @V V V @VV V\\ BG @>=>> BG \end{CD}
I believe some sort of converse to be true. That is, if $f:EG\times_G X\to EG\times_G Y$ is a fibre-preserving map between Borel constructions, it induces a $G$-equivariant map $\overline{f}:X\to Y$. Here I am identifying $G=\pi_1(BG,\ast)$, which acts (up to homotopy) on the fibres.
Does anyone know of a reference to a precise statement along these lines?
Edit (in response to user51223's comment): I'm mainly interested in the existence question: Is it true that there exists an equivariant map $\overline{f}:X\to Y$ if and only if there exists a map $f:EG\times_G X\to EG\times_G Y$ over $BG$? (So $\overline{f}$ doesn't have to be the induced map on fibres.)