As $L$ is regular, it is generated by a right-linear grammar for which all rules have the form $A \to aB$, $A \to a$ or $A \to \varepsilon$ (showing this is an easy exercise). So without loss of generality, we assume that $G=(N,T,\delta,S)$ with $\mathcal{L}(G)=L$ has this form.
Now we construct a new grammar that generates $A(L)$. The idea is to "execute" the grammar two times in parallel; because every rule generates at most one terminal, we can achieve the $|w_1|=|w_2|$ requirement. As for $w_2^R \in L$, that should be easy to transfer from the proof that $\mathrm{REG}$ is closed against reversal (if done via grammars).
Formally, we construct $G'=(N',T,\delta', (S,S))$ with
* $N' = N \times N$
* $\delta'$ is defined by
$\quad$ - $(A_1,A_2) \to_{\delta'} a_1(B_1,B_2)a_2 \quad \Longleftrightarrow \quad A_1 \to_\delta a_1B_1 \wedge A_2 \to_\delta a_2B_2$,
$\quad$ - $(A_1,A_2) \to_{\delta'} a_1a_2 \quad \Longleftrightarrow \quad A_1 \to_\delta a_1 \wedge A_2 \to_\delta a_2$,
$\quad$ - $(A_1,A_2) \to_{\delta'} \varepsilon \quad \Longleftrightarrow \quad A_1 \to_\delta \varepsilon \wedge A_2 \to_\delta \varepsilon$
Proof of correctness works via induction over word length resp. number of derivation steps.