There is an IPv4 to IPv6 transition protocal called Lightweight 6over4 (RFC 7596). There is an open source implementation of of the "lwAFTR" function, which is basically the NAT concentrator. The client piece, called the "lwB4" can be implemented with built-in linux commands. Here is a link.
RFC 7084: “Basic Requirements for IPv6 Customer Edge Routers” states that CE routers SHOULD support IPv6 transition technologies like 6rd and DS-Lite. lw6o4 is an extension of DS-Lite and it would make sense to suport all three.
Since it is impossible to know prior to sale which transition mechanism a device will need over its lifetime, an IPv6 Transition CE Router intended for the retail market MUST support all the IPv4aaS transition mechanisms listed in this document.
Those transition mechanisms are DS-Lite, 464XLAT, lw4o6, MAP-E, and MAP-T.