Its not the lambda run time that gets Ipv6, its the lambda API that is now dual stack. (the endpoint you hit when you want to invoke a lambda.)
When you do an invoke, if you use lambda.us-east-1.api.aws instead of the old ipv4 only lambda.us-east-2.amazonaws.com you will hit a v6 ula if you are on v6:
so if you want to talk to ipv6 unicast endpoint to invoke a lambda do so by specifying the new endpoint with --endpoint-url:
aws lambda invoke --function-name my-function out --log-type Tail --endpoint-url lambda.us-east-1.api.aws
> lambda.us-east-1.api.aws
Server: one.one.one.one
Address: 1.1.1.1
Non-authoritative answer:
Name: lambda.us-east-1.api.aws
Addresses: 2600:1f18:20cb:b301:7ced:3d08:1e2b:ed32
2600:1f18:20cb:b303:fa58:3743:b0dd:f703
2600:1f18:20cb:b302:d19a:21c7:11ee:8ad2
54.85.112.20
3.220.153.240
34.235.81.32