Hi - Currently the only way to enter a group is to double-click on it on the canvas area (That I know of).
This is often an issue when there are other element on top of that group, making it difficult to access the content of that group. Likewise, if you want to duplicate an element inside a group and have it remain inside the group, you have to be inside the group (by double clicking on the group from the canvas area), otherwise the duplicated element gets placed outside the group.
Adding an option to enter groups directly from the Properties panel and the Timeline would be a great addition, making it easier to navigate Friction and the different elements created.