Answer
Yes — Command Groups are part of a page's configuration, and Aurena page/projection configurations are exactly what Application Configuration Packages (ACPs) are designed to transport. Build the configuration as documented for custom action/page configurations, then export it as an ACP (a ZIP file) using the configuration lifecycle management import/export tooling in Solution Manager. Importing and publishing that ACP in the destination environment makes the transported configuration — including its command groups — available there, the same standard mechanism used for moving page and projection configurations between environments generally.