Using a filter that intercepts the output of a controller action, it is possible to make replacements and modify that output before its shown on the page. Using this approach, you can change how the field group titles are shown on the page by replacing them with your own HTML.
<?php
Clickfwd\Hook\Filter::add('after_filter_output_listings_edit', 'jreviews_replace_form_group_titles');
Clickfwd\Hook\Filter::add('after_filter_output_listings__loadForm', 'jreviews_replace_form_group_titles');