I think part (a) of the exercise you linked gives an easy path to the solution.
Let $X$ be a set $G$ acts on transitively, and let $x_0\in X$, with $H\le G$ the stabilizer of $x_0$. If $\hat{X}\cong_G X$ but is disjoint from $X$, we can form $Y=X\sqcup\hat{X}$. There is a permutation $\pi$ of $Y$, swapping $x_0$ and $\hat{x}_0$, but fixing all other points. This permutation commutes with the action of $H$, but not of $G$.
Here's how to use it to solve part (b):
Let $X=G/H$ be the cosets of $H$ in $G$. As above, we get a homomorphism $\phi:G\rightarrow S_Y$. The element $\pi\in S_Y$ centralizes $\phi(H)$, but not $\phi(G)$. Thus if $\sigma$ is the inner automorphism that is conjugation by $\pi$, then $\sigma\phi:G\rightarrow S_Y$ is another homomorphism which agrees with $\phi$ on $H$, but not on $G$.
I had hinted at a similar way to solve this exercise in the comments. Let $\rho:G\rightarrow S_G$ be the regular representation. If $T$ is a transversal for $H$ in $G$, then any permutation $\tau\in S_T$ induces a permutation $\pi_\tau$ in $S_G$, by sending $th\mapsto \tau(t)h$. This permutation will fix each coset of $H$, and hence preserve the action of $H$ in the regular representation. To finish the problem, we need some $g\in G\setminus H$ that will act differently before/after applying $\pi_\tau$. This is always possible when $H$ is not normal in $G$, because then there exists $x\in G\setminus H$ and $y\in H$ such that $x^{-1}yx\not\in H$. Let $T$ be a transversal with $\{1,x\}\subset T$, and let $\tau=(1,x)$ be the transposition on $T$. Then for $h\in H$ and $tk\in TH$ we have
\begin{equation}
\pi_\tau\left(\rho(h)(tk)\right) = \pi_\tau(tkh) = \tau(t)kh = \rho(h)\left(\pi_\tau(tk)\right)
\end{equation}
However, if $yx=t_0h_0$, then
\begin{equation}
\pi_\tau\left(\rho(x)(y)\right) = \pi_\tau(yx)=\pi_\tau(t_0h_0)=\tau(t_0)h_0
\end{equation}
Meanwhile,
\begin{equation}
\rho(x)\left(\pi_\tau(y)\right) = \rho(x)(xy) = x(yx) = xt_0h_0
\end{equation}
For these to be equal, we must have $xt_0=\tau(t_0)$. Since $t_0\not\in\{1,x\}$, this is impossible.