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This paper is a sequel to [Monatsh. Math. 194 (2021) 523–554] in which results of that paper are generalized so that they hold in the setting of inhomogeneous Diophantine approximation. Given any integers [Formula: see text] and [Formula: see text], any [Formula: see text], and any homogeneous function [Formula: see text] that satisfies a certain nonsingularity assumption, we obtain a biconditional criterion on the approximating function [Formula: see text] for a generic element [Formula: see text] in the [Formula: see text]-orbit of [Formula: see text] to be (respectively, not to be) [Formula: see text]-approximable at [Formula: see text]: that is, for there to exist infinitely many (respectively, only finitely many) [Formula: see text] such that [Formula: see text] for each [Formula: see text]. In this setting, we also obtain a sufficient condition for uniform approximation. We also consider some examples of [Formula: see text] that do not satisfy our nonsingularity assumptions and prove similar results for these examples. Moreover, one can replace [Formula: see text] above by any closed subgroup of [Formula: see text] that satisfies certain integrability axioms (being of Siegel and Rogers type) introduced by the authors in the aforementioned previous paper.