Yes, if it is not an insulated wire. If it is bare copper it is always ground. But the hot and neutral wire are also copper, they are just insulated.
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# 10 bare copper.
Ground is sized based on the size of the feeder wire and not the amps of the service! However, for a 600 amp service 1500MCM copper wire is one option (NEC 310.16) ;therefor, ground wire is 3/O copper (NEC 250.66) or another option is a two sets of 350 MCM copper wire then a #2 copper (since the biggest feeder wire is 350MCM).
#6 bare copper wire.
No, you can use #4 bare copper ground wire.
Use AWG #1 copper service entrance wire and #4 copper ground wire.