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Sage did not remove Gap's functionality, it simply did not interface to it. There seems to be no implementation of Homsets specific to groups, and in particular no implementation of morphisms specified via the images of the generators, like there is for rings, for example. I agree that the error message is not very informative.

I see no easy workaround: either you define your own python functions, or you work directly with gap. This is probably worth a ticket on trac.sagemath.org.