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Assuming it's not a High or Wide obstacle which take a whole Turn to cross, I'd say yes. They could still use their free movement action either before or after crossing a Minor or Major obstacle.
Our Group is very liberal with the Skirmisher Free move. We allow it to be used with crossing an obstacle so the Unit could use the free movement die with another die to cross a low fence and then still have one Action left. Or it could use one Action(Fire, Reload, Etc..) and then cross an obstacle with its remaining Action and the Free Movement Die.
If its high enough that you would have to climb over it rather than just sort of straddle over it, then it's a High Obstacle. A 6 ft wall in my opinion would be High. Even 4 ft is pushing it for a Low Obstacle. I would think 3 Ft is about the Limit for a Low Obstacle.
You will find the definition under Crossing Obstacles on pages 36/37 of the Sharp Practice rules. Obstacles in this case are things like hedges, walls and ditches, the side of a barn would be an impassable obstacle unless there is a door.
A Major obstacle is over waist height up to chest height, while a High obstacle is over chest height up to 7 foot high. Anything over 7’ high is defined as an Impassable obstacle for which you will need a ladder.