If you want to keep them from being visible to each other that can not be done on the same map. You can multi-link into roll20 as long as you only have one account active per browser. I would open a second link into the game, set up two copies of the same map, each in a different tab in your browser then place one group on map 1, the other on map 2 and tab between them to ref each team. If the groups end up in the same area you could move them all to one map to interact.