To equalize velocity with the target, your probe would have to expend all the energy to do so with thrust. Negating the advantage of trying to hitch a ride.
Assuming a strong enough teather and probe, you could launch such that the probe crosses behind the target body. At the probe's closest point, launch a teather at the target, and "rope swing" around the target to the right trajectory and release.
Point is, any attempt to change your velocity to match speed and direction of the target negates all advantage of "hitching" a ride.
In the above example of skitching a bus... imagine the bus traveling at 100mph and you are on a board crossing the street close to the bus. You have to either latch on and hope your arms don't get torn out, or speed up to nearly 100mph before grabbing on.
To continue the bus analogy, latching on and hoping your arms don't get torn out is pretty much what we (or at least I) propose. However, to make it less likely that our arms get torn out, we're making them really really stretchy. Think of "Elastigirl" from "The Incredibles".