I think that statement is false.
Let $R=\mathbb{Z}[\varepsilon]/\varepsilon^2$ and let $G_1=\mathbb{Z}/2\times 1$ and $G_2=1\times \mathbb{Z}/2$ and $G=\mathbb{Z}/2\times\mathbb{Z}/2$. Let each $G_i$ act on $R$ via $\varepsilon\mapsto -\varepsilon$. Then the map above is given by $\mathbb{Z}\otimes \mathbb{Z}\to R$, which is not surjective.
With the additional assumption that $G$ is a subgroup of $\operatorname{Aut}(R)$, we can modify the counterexample as follows:
Let $R=\mathbb{Z}[\varepsilon_1,\varepsilon_2]/(\varepsilon_1^2,\varepsilon_2^2)$ and let $G_1$ send both $\varepsilon_i$'s to their negatives and $G_2$ send only $\varepsilon_1$ to its negative. Then the map is given by $\mathbb{Z}[\varepsilon_1\varepsilon_2]\otimes \mathbb{Z}[\mathbb{\varepsilon_2}]\to R$, which is not surjective.