WARP is a full VPN tunnel. The above poster was suggesting if someone wanted to avoid a VPN tunnel, DNS64+NAT64 is a nice "hack" that just uses DNS as the tool to reestablish IPv4 connectivity. (It's also how most mobile/cell traffic today reaches IPv4, via DNS64+NAT64 gateways.)
I don't use WARP's VPN mode.
I run WARP in socks proxy mode, and using ipt2socks for redirecting traffic to socks proxy port.