[step:Express the group operations in logarithm coordinates]
Let $a,b\in G$. To check multiplication near $(a,b)$, choose chart domains $aV$, $bV$, and $abV$. In these charts the multiplication map has the local expression
\begin{align*}
M_{a,b}:\Omega_{a,b}&\to U
\end{align*}
\begin{align*}
(X,Y)&\mapsto \log_U\bigl(b^{-1}\exp X\, b\, \exp Y\bigr),
\end{align*}
where
\begin{align*}
\Omega_{a,b}:=\{(X,Y)\in U\times U:b^{-1}\exp X\, b\, \exp Y\in V\}.
\end{align*}
This formula follows from
\begin{align*}
(ab)^{-1}(a\exp X)(b\exp Y)=b^{-1}\exp X\, b\, \exp Y.
\end{align*}
The map $(X,Y)\mapsto b^{-1}\exp X\,b\,\exp Y$ is smooth as a map from the open subset $\Omega_{a,b}\subset\mathfrak g\times\mathfrak g$ into $G$, because matrix multiplication is smooth, conjugation by the fixed matrix $b$ is linear, and the matrix exponential is smooth. Composing with the smooth logarithm chart $\log_U:V\to U$ shows that multiplication is smooth in these coordinates.
For inversion near $a$, use the charts $aV$ and $a^{-1}V$. Its local expression is
\begin{align*}
J_a:\Omega_a&\to U
\end{align*}
\begin{align*}
X&\mapsto \log_U(a\exp(-X)a^{-1}),
\end{align*}
where
\begin{align*}
\Omega_a:=\{X\in U:a\exp(-X)a^{-1}\in V\}.
\end{align*}
This formula follows from
\begin{align*}
(a^{-1})^{-1}(a\exp X)^{-1}=a\exp(-X)a^{-1}.
\end{align*}
The map $X\mapsto a\exp(-X)a^{-1}$ is smooth by smoothness of scalar multiplication on $\mathfrak g$, the matrix exponential, and matrix multiplication. Composing with $\log_U$ proves that inversion is smooth.
Thus the smooth atlas constructed above makes $G$ a Lie group.
[/step]