Shoup-style hashing without one-wayness
Here is a partial answer:

Sometimes $H'$ is almost universal, but not always.

For an example of an $H$ that makes $H'$ almost universal, let $D$ be a field and consider $H_R = \{ h_x(a,b) = a + bx : x \in D\}$. $H_R$ is universal: Consider $(a,b) \neq (c,d)$. If $b \neq d$, then $(\Pr_x h_x(a,b) = h_x(c,d)) = (\Pr_x a + bx = c + dx) = (\Pr_x (b-d)x = c-a) = (\Pr_x x = (c-a)/(b-d)) = |D|^{-1}$. Otherwise, $b=d$, and thus $a \neq c$, and by a similar calculation $h_x(a,b) \neq h_x(c,d)$.

In this case, $\langle f,g \rangle(a,b,c,d)$ is a polynomial of degree $3$, with four terms with different coefficients. If $(a',b',c',d') \neq (a,b,c,d)$, $\langle f,g \rangle(a,b,c,d) - \langle f,g \rangle(a',b',c',d')$ is a polynomial of degree at most $3$ with at least one non-zero coefficient. By Schwartz-Zippel, $H'$ is almost universal.

If $H = \{h_x(a,b) = ax + b : x \in D\}$, then $\langle h_x, h_y \rangle(a,b,c,d) = ax + by + cx + d$, and $(c,b,a,d) \neq (a,b,c,d)$ is guaranteed to have the same hash value. Thus, $H'$ is not almost universal.