Personally, I have RPed with players on both my Nomad characters prior to engagement. Sometimes the encounter is 8 minutes, sometimes 3. The other indies I've grouped with have had a similiar practice. Infinite cloak is a huge help in that regard.
The matter of cruiser access is still somewhat unanswered. I'd like to see specific, candid and rational reasons why giving indies access to the Irra would sully overall Nomad/K'hara RP.