Extension of isomorphism

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If I have $H_1$ and $H_2$ normal subgroups of $G_1$ and $G_2$ respectively, and both are isomorphic ($H_1$ with $H_2$ and $G_1$ with $G_2$), can we extend the isomorphism between the two $H$ groups to an isomorphism between the two $G$ groups?

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The comment of User218931 answers your question for infinite groups.

Here is a counterexample in finite case. This would also be a failure to extend into an automorphism.

Take the symmetric group $S_n\ n\ne6, n>3$; Let $H_1, H_2$ be the subgroups of $S_n$ generated by $(12)$ and $(12)(34)$ respectively. An isomorphism between $H_1, H_2$ cannot be extended to an automorphism of $S_n$.

The reason is the only automorphisms are inner automorphisms in these cases. And an inner automorphism has to preserve the cycle type of a permutation.