Wireguard and IPv6

How to use VPS IPv6 addresses if a wireguard installed on VPS? I use this configure wireguard server on VPS https://github.com/atrandys/wireguard
my ISP support IPv4 only.

You'll have to either use native IPv4 connectivity from your OpenWrt device to your VPS, or establish an IPv6-in-IPv4 tunnel between the two (unencrypted is OK, as you're running Wireguard within the tunnel), perhaps with GRE.

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maybe there are examples of these two solutions ?

You might want to look at, for example https://lists.zx2c4.com/pipermail/wireguard/2018-September/003375.html which is one discussion around

What is the best practice for configuring Wireguard to work over diverse networks, including IPv4-only, IPv6-only, and dual-stack?

or other search results from https://www.google.com/search?q=wireguard+ipv6+over+ipv4

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