This is not generally true, though sometimes true. The majority of the time, we have to assume that fleets would only even run into each other near something of value---a planet. That means orbit. Even if not a majority, a substantial % of engagements. If you jump in across the system, then engagements only happen if both sides chose to fight. Closer in, you could possibly force one side to engage.
So anywhere near a planet, one side is effective stationary to start with.
Book 2 gives us two-lightsecond detection ranges for warships and scouts - 600 thousand klicks. Ships jump in at a minimum 100 diameters from the target world, which can be anything from 160,000 kilometers to 1.6 million kilometers. That means the fleet jumping in will often have no sensor contact with the fleet protecting a world, especially if the defending fleet is orbiting close and maintaining radio silence. If they're smart, that defending fleet WILL have sensor contact with the intruders, because they'll have some sort of satellites or patrol craft patrolling the jump perimeter for intruders. Patrol probably won't last long, but the defender will know someone's coming to dinner. At any rate, the image of one side sitting and waiting for the other to arrive can get a bit more complicated sometimes.
Missiles start with whatever velocity the launcher has, and even the little classic missiles can possible do 6g12 or better, right (with the supplement?).
Even at a total of 6 g-turns, a 10 gram penetrators will have 622MJ energy. Modern tank rounds are on the order of 10-13 MJ.
This will vary linearly with penetrator mass, so a 1 gram ball would be 6X more energy than getting hit by a DU round from an Abrams tank.
Realistically, ships cannot actually evade uniformly 6g in any direction (unless you assume a reactionless drive that can "thrust" in any direction). Even so, almost 2 decades ago we did the math, and they can disperse at a substantial distance away (we looked at missiles the size of aerial torpedoes dispensing traveller superdense bbs such that they would have 1 bb every X meters square if spread at whatever the distance was. I'll find my notes. Back of the envelope, at 352 km/s (6 gturns), the target can evade if already pointed 90 degrees to vector ~29m in 1 second. That's a detonation 352 km away assuming only a 60m diameter cloud of bbs with no chance of missing with all bbs (might only hit with 1, lol). Note that you can then adjust damage based on how possible/cost effective SD bbs are vs lesser materials (DU, tungsten, etc) to adjust the damage (handwaving RL metal vs SD is allowed, after all).
Book 2 laser effective engagement ranges are up to 250 thousand klicks; they can hit with some accuracy to twice that and might get lucky even farther. High Guard doesn't figure ranges beyond the abstract "short" and "long". MegaTrav - not clear if there's a limit, though they are a bit less accurate beyond 50,000 klicks; detection and weapon lock ranges can be a lightsecond or more, depending on the ship's computer and sensors and how many ships are involved.
You have a lot of space to travel in order to deliver your kinetic cloud to attack range. The enemy's going to be doing what he can to make sure you don't cross that distance, both by shooting at you and your missiles and by maneuvering himself. It's a cool idea but, as in all things weapons, the guy on the receiving end of it's going to be putting as much thought and creativity into keeping it from happening as you put into making it happen. The missiles have to cross tens of thousands of miles before they can achieve ranges that give them a reasonable chance at landing a "BB" on a target, and they have to survive laser bursts and blasts of "sand" that are basically trying to do to them what they intend to do to the target.
The other problem is that your 6G missiles are often encountering 6G targets. With potential engagement ranges of tens or hundreds of thousands of miles and ships as fast as the missiles, it becomes more like seagoing warships launching torpedoes at each other than like those same ships battling supersonic inbounds - a bit of forethought and luck can deprive the "torpedo" of the intercept entirely.
Mind you, I prefer to think of the missiles as hyper-G interceptors myself, works better with the High Guard combat paradigm than the 6G missiles, but it's not what the original stuff or the later MegaTrav wants to give us.