As a point with escape velocity - it's still the point at which, however long you took to achieve it, using whatever means (giant cannon shot, hypersonic scramjet with rocket assist, conventional rocket into orbit then deploying a solar sail etc) you are gone.
Once you have contragravity and reactionless thrusters, I think it's not really going to matter what the local surface gravity is, at least at planetary levels.
Canonically, a TL8 Air/Raft is able to float and achieve orbit, regardless of local surface gravity. It would be very strange indeed if starships did not also use that technology to assist with taking off, operating close to a Gas Giant and so forth. Naturally, the thrust plate, or reaction drive or whatever other M-Drive is used push the bird along is going to get the ship into orbit far quicker than an Air/Raft can manage, and that's reflected in the rules.