It sounds odd though that your pc wont connect with ipv4. To see this video in a text format please check out the link here.
Static Ip Address For Xbox One
How to change ipv4 to ipv6 on xbox. Internally the xbox is talking ipv6 and then that gets packaged up into ipv4 sent over teredo tunnels and then unpackaged at the end point and turned back into ipv6. While microsoft has clearly stated that the xbox one will support ipv6 and the ipv4 ipv6 bridging technology teredo pdf sony has remained oddly quiet about the ps4s ipv6 capabilities. My xbox one x for months has had issues with all of a sudden losing ipv6 connection. That makes it sound like your internet connection is ipv6 only. It isnt every time but it has recently been going on a frustrating amount of times. If the xbox settings are saying you are connected with both ipv4 and ipv6 i dont see why it wouldnt work with minecraft servers.
Turn off ipv6 in your router although the xbox one doesnt actually use ipv6 in games normally. For me it shows dual stack ipv4ipv6 and when i any games like apex legends bfv fighterz my console will do this. Use internet explorer or firefox or chrome. Log into your router on a computer. Hey there everyone monkiedude22 here with a video explaining the difference of ipv4 and ipv6 as it relates to xbox one usage. But dont take that as an indictment of ipv6.
The amazing thing is that microsoft has found in many cases that teredo tunneling over ipv4 is still faster than 100 native ipv6. Go to settingsadvanced settings and find ipv6 enable it and set it to automatic.