Hi,
1. One easy way to go about it is to create custom fields of the type "custom text" as group separators.
2. Using Joomla custom fields is not possible. First, it's really hard to integrate. And even if that was possible to integrate them, it wouldn't help you display static information. You're much better with using custom fields of the type "custom text", they are made for this purpose.
3. Characteristics won't help. It will be better to use custom product fields. They are made for this.
4. If you want to display a field somewhere else than the normal area of the product details page, you'll have to add custom code where you want the field to appear.
The code is quite simple:
<?php echo $this->element->XXX;?>
where XXX is to be replaced by the column name of the field. Then, you can display the display setting of the field so that it doesn't also appear in the fields area where all the other fields appear.