"Modern" sensibilities help extend the timeline
The other answers have nicely shown that 100 000 years should not be a problem anyway, but in case you want to extend the timeframe, you can do that too. Because:
Evolution isn't given as free a hand in modern civilization as it would have in the wild.
Imagine a human with any sort of genetic disadvantage. Down syndrome, dwarfism, whatever.
An animal with a significant disability would find itself eaten by predators, starving because it is unable to catch prey, or otherwise removed from the gene pool. That's how evolution normally works.
In modern civilization - and I'm using that term very loosely, as even basic tribal societies often fit what I'll describe here - every life matters. A child is beloved by their parents, and more likely than not, they and the rest of the tribe/village/state/whatever will help the affected person live with/despite whatever disadvantages their genes gave them.
What this means is, that most likely Evolution is severely slowed down in modern civilization. Yes, attractive people will still get more mates, as will sociopaths who use this to be more financially successful than those who care about other humans. But then they will likely use contraceptives - so whether they pass their genes on more or less than other humans is still up in the air.
I don't think we have enough data to tell what that does to the evolution of the human race over long timespans - so you can make it up for your story, that's what science fiction does. Take a plausible idea for how the future will develop, and tell a story based on it.
If you want your human populations to be unable to crossbreed, you might have to invent some harsher conditions than just different gravity - maybe a strict eugenics program on one or both worlds to let their populations adjust to the gravity more quickly caused faster diversion? Maybe increased radiation caused a higher mutation rate?
If you want them able to crossbreed, no further action is needed if the timespan is just 100 000 years. And for longer timespans, just keeping basic mercy and compassion alive will probably do it.