IPv4 connectivity to IPv6-only host
Solution 1:
It depends on the protocol, and you didn't provide much details. Usually something like haproxy will work. There is good documentation for the opposite situation (making content on an IPv4-only server available over IPv6) on the ISOC Deploy360 website that you can use as a starting point. Just reverse the IP addresses.
A simple example based on that documentation:
global
user haproxy
group haproxy
daemon
log /dev/log daemon
defaults
timeout client 5000
timeout connect 5000
timeout server 10000
listen webserver1
bind 192.0.2.1:80
mode tcp
server webserver1 2001:db8:abc:123::cafe:80
The IPv4 address is the address of your dual-stack server and the IPv6 address is the address of the IPv6-only server.