Groups are used to group controls on the same tab.
*Remember that you have to add the tab to your group.
$form['tab_id'] = [
'type' => 'tab',
'title' => t('Content')
];
$form['heading_group'] = [
'type' => 'group',
'title' => t('Heading'),
'tab' => 'tab_id',
];
$form['heading_color'] = [
'type' => 'noahs_color',
'title' => t('Heading Color'),
'tab' => 'tab_id',
'group' => 'heading_group',
];