Here us seeing Naruto absorbing chakra from Madara.
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After this Naruto talk with Goku about using the technique.
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As us know, Goku is inside Madara and Naruto only have him chakra inside of him; this meaning that Naruto was talk with Goku from Madara in that panel.
Since Naruto talk to Goku from inside Madara and took chakra from Madara, this meaning that Naruto cannot use Lava Rassengan with his own resources.
You're wrong.
1 - Naruto is not absorbing Madara charka. He using chakra cloak, its covering just his hand.
2 - He is not talking to Goku inside Madara, but the one inside himself. Naruto was able to talk to his parents even though they only sealed a small portion of their chakra inside Naruto.
3 - The cloud village gold and silver brother prove its possible to use a tail beast power even if you only have their chakra -
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That means Naruto can use lava rasenshuriken with his own resources.