If you have a group action form $G$ to $A$ seen as functor $F:G \rightarrow Set$ then it has a universal element if and only if for every $x,y \in A$ there is exactly one element in $g \in G$ such that $gx=y$.
This is a consequence of Yoneda's lemma but I can't see why. Any help with this will be greatly appreciated.
The functor $F : G \to \mathbf{Set}$ is representable if and only if there is a natural isomorphism $$\theta : F \overset{\cong}{\longrightarrow} G(\star, {-})$$ where $\star$ is the unique object of $G$.
Let's investigate what this means.
So let $x,y \in A$ and let $\theta_{\star}(x)=g \in G$ and $\theta_{\star}(y)=h \in G$. Then $$\theta_{\star}(hg^{-1} \cdot x) = hg^{-1} \theta_{\star}(x) = hg^{-1}g = h = \theta_{\star}(y)$$ The fact that $\theta_{\star}$ is invertible gives you that $hg^{-1} \cdot x = y$.