No .. You'd think this was worked out before ipv6 was finalized. Nat64 and other related tech is a mess.
> NAT and other related tech is a mess.
FTFY
There are many ways to do so, like dual stack of real IPv6 + RCF6598 for IPv4 - used by many ISPs in Europe where IPv4 space shortage is a real problem.
They continue doing IPv4. Anyone they want to reach needs to be reachable on IPv4 - at least via an IPv4 gateway/proxy