How to link post titles on page A to its posts on page B?

get_category_link is what you are looking for. And you could just use:

<?php echo get_category_link(6); ?>

and that will output the url to the category page.

<a href="https://wordpress.stackexchange.com/questions/45845/<?php echo get_category_link(6); ?>"><?php the_title(); ?></a>

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