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There is no way to magically connect to ipv4 address with ipv6 no, any more than udp can talk to tcp. You could deploy a proxy that is available over ipv6 but also has ipv4 connectivity?

I was hoping there was some support in Flannel for NAT64, but I guess the answer is no

You'd need DNS64 to handle that as well I believe. Easier to use a proxy.