No idea on the g-tolerance of a tardigrade, but what's the relevance? I'm talking about speed, not acceleration.
Speed isn’t an issue. You don’t mind going 500+ mph in a plane because the rate of your acceleration is gradual. If you were simply placed in the way of the plane while it was going 500+ mph, you’d get “smacked” by your instant acceleration from zero to 500. In fact you’d be pizza. Not from the speed, from the acceleration.
Same deal with imbedding a terrestrial object in a fast moving interstellar object - it ain’t the speed that will get you, it’s the acceleration, aka getting “smacked”. Surviving the impact means reducing the G forces of acceleration.
It’s NOT about the speed (until you get to relativistic speeds). Kinda like how falling from great heights won’t kill you, the rapid deceleration upon impact will.