When they sally you just have to use pause. It might be a little cheap, but it works. Pause, order them all to drop their equipment, unpause for a brief second to let them start doing it, then pause again and create your formation back at a more desirable distance and order the men to run. This should give them enough time to clear the easy charge range of the AI, especially if you can leave a cheap company of spearmen back to clog the lanes.
Typically in my experience if you charge the AI and clog them in their own gate you'll be able to break them there before they can organize an effective sally.
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