After a season of failed attempts to get herself and her sons out of Charming (including a false pregnancy and subsequently faked miscarriage to bar Gemma Teller-Morrow from gaining custody of Abel and Thomas, should Tara go to prison), and after Tara and Jax's relationship was tested (Tara and Jax are having problems with her being behind bars for her involvement in the death of a nurse. Jax is seen at the end of episode 1 cheating on Tara with Colette Jane, an escort handler) Tara finds herself at odds with everyone she was supposed to be able to trust and chooses to use the bullet she pulled from Bobby Munson's shoulder as evidence necessary to grant her witness protection, in turn making her a rat and a liability to the MC and to Jax himself. In a last-minute plot twist, Jax finds Tara at a park in Lodi. They talk for several minutes and then the scene cuts to the motel room Tara had been hiding in. The two come to an understanding and Jax surrenders himself to the mercy of DA Tyne Patterson in exchange for Tara's immunity for all the crimes she committed on behalf the MC, specifically that of the murder of Pamela Toric, for which she was accused in season 5 but did not have anything to do with. The DA agrees to what Jax offers her after a few moments of reluctance to believe that he will come through. With that, Jax has let Tara know that he truly loves her and their sons more than anything. They cry and make love. Tara and Jax agree to meet the DA at the Teller home at 6pm after he spends his last hours as a free man with his sons. He tells Chibs and Bobby he will most likely be sentenced to 25 years, with parole in 10, 7 if he's lucky. Tara gets home earlier than expected and the house is empty, save for Eli, the sheriff, who entered the house with her so they could talk in private and he could help her bring her suitcases into the house, as she decided not to run away and do what Jax asked of her; raise their sons.

Is it true that does tara get out of jail in season 6?
yes