The present 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 n ≥ 2 and ℓ ≥ 1, any ξ ξ ξ = (ξ 1 , . . . , ξ ℓ ) ∈ R ℓ , and any homogeneous function f = (f 1 , . . . , f ℓ ) : R n → R ℓ that satisfies a certain nonsingularity assumption, we obtain a biconditional criterion on the approximating function ψ = (ψ 1 , . . . , ψ ℓ ) : R ≥0 → (R >0 ) ℓ for a generic element in the G-orbit of f to be (respectively, not to be) ψ-approximable at ξ ξ ξ: that is, for there to exist infinitely many (respectively, only finitely many) v ∈ Z n such that |ξ j − (f j • g) (v)| ≤ ψ j ( v ) for each j ∈ {1, . . . , ℓ}. In this setting, we also obtain a sufficient condition for uniform approximation. We also consider some examples of f that do not satisfy our nonsingularity assumptions and prove similar results for these examples. Here, G can be any closed subgroup of ASLn(R) (such as ASLn(R) itself or SLn(R)) that satisfies certain axioms introduced by the authors in the aforementioned previous paper.