You can make any house rules you want.
Jump is a special case as it is limited by theoretical breakthroughs.
So:
If someone hands you the theoretical physics of Jump-6, e.g. the TL-15 Imperium, a world can build an Experimental device three TLs earlier, so TL-12.
When using the Starship Drive Potential table (p78), Efficiency is multiplied to the table potential and we can't achieve J-6 at TL-12, but that is a limitation of the table, not the technology.
When using the Drive Potential formula (p63), Efficiency is multiplied to the EP output of the drive, so we can determine how to achieve J-6 at TL-12, by using a larger drive.
Example: In a 200 Dt hull we need a 6 × 200 / 2 = 600 EP (size F) drive. With 50% Efficiency we need a drive with 600 / 50% = 1200 base EP (size M) drive.
Both methods are equally valid, the table is just limited to some standard cases.