namespace detail {
    template<class T, class U>
    using forwarded_type = std::conditional_t<std::is_lvalue_reference<T>::value,
                                              std::remove_reference_t<U>&, 
                                              std::remove_reference_t<U>&&>;
}
template<class T, class U>
detail::forwarded_type<T,U> forward_like(U&& u) {
    return std::forward<detail::forwarded_type<T,U>>(std::forward<U>(u));
}
template <typename Vector>
void g(Vector&& v, size_t i) {
  f(forward_like<Vector>(v[i]));
}
Demo. Using std::forward in the implementation automatically prevents you from doing a dangerous forward of rvalue as lvalue.
For your actual use case
I'd like to create vector<T> from vector<U1>, vector<U2>, ...., where
  each element T is constructed from U1, U2, .... Each array of
  vector<Ui> could be either & or &&, and I'd like the Ui to be
  perfectly forwarded.
this becomes something like
template<class T, class...Vectors>
std::vector<T> make_vector(Vectors&&...vectors){
    auto n = std::min({vectors.size()...});
    std::vector<T> ret; 
    ret.reserve(n);
    for(decltype(n) i = 0; i < n; ++i)
        ret.emplace_back(forward_like<Vectors>(vectors[i])...);
    return ret;
}