Hi Dino,
when using Radius, the value of the IETF Class attribute (IETF #25) is interpreted by the ASA as the name of a group-policy.
See e.g.
http://www.cisco.com/en/US/products/sw/secursw/ps2086/products_configuration_example09186a00808cf897.shtml
In the example in that document, the syntax used is OU=Grouppolicyname, but the "OU=" is optional, you can just as well enter the name by itself.
If you need help mapping the AD group(s) to the radius Class attribute in ACS, I'm afraid I can't help you with that but you can ask in the forum.
Alternatively, you could have all users share the same group-policy, but have ACS push the name of the bookmark list to use, I don't know the attribute name by heart but if you scroll through the list of ASA attributes on ACS it should be fairly obvious (let me know if not )
BTW - there is an alternative to using a Radius "proxy" to solve the multi-domain issue. If you configure a GCS (Global Catalog Server) in your AD forest, the ASA can authenticate users in all the domains the GCS knows about. Downside to this is that the GCS does not support password change.
hth
Herbert