It should be noted that the rules for Scout and Infiltrate specifically state that the unit that used those rules cannot charge in the assault phase for the first game turn.
If you look up "Game Turn" in the beginning of the rule book it explains that a "game turn" is both player's turns together.
So even if a player deployed via infiltrate or moved forward via scouts and then went second, they would still have to wait till the second GAME TURN before those unit's could assault.
Just to be a bit pedantic but that is a misquote regarding Infiltrators; they aren't allowed to charge in 'their' first turn. Same difference but just wanted to make it clear so you aren't called out on it.