This is indeed a tricky question. You should proceed as follows:
First you need the mean orientations of your two grains
o1 = get(g(1),'orientation')
o2 = get(g(2),'orientation')
Consider now two normals, one for grain 1 and one for grain 2
h1 = Miller(1,0,-1,0,cs)
h2 = Miller(1,0,-1,0,cs)
Then compute the coordinates of all there symmetrically equivalent normals with respect to the specimen coordinate system
r1 = o1 * symmetrise(h1)
r2 = o2 * symmetrise(h2)
Finally compute the angles between all these representatives and take the minimum
angles = angle_outer(r1,r2);
min(angles(:)) / degree
Note, this works also for grains of different phase! I hope it helps.
Ralf.
PS: I wish there where a more simple route or a specific command for that. But I cant think about a nice command name or shortcut.