I don’t think that Roblox stores any data about when someone joined a group so I would make a bot that accepts people into the group and in some database it stores information about when the person joined the group. Then in the game you would be able to download that data from your external server.
One thing you could do, is make a group role that you change when a user is there for a certain period of time. This could get unmanageable if your game has more than 200/500 players online at one time though.
You would either need to hire a team of people to manage the group, or as @Kacper said, make a bot to store data about when users joined.
Hope this helps you, and I hope you get this figured out!
Good luck.