The "cannot escape IPv4" is apt because while you can setup an IPv6 only VPC so many things break; from various AWS services to package repositories [0]. So then you're stuck either enabling IPv4 or running a NAT64 gateway (or trusting someone to run one for you [1]).

[0] https://blog.devopstom.com/ipv6-only-ec2/ [1] https://nat64.net and http://v4-frontend.netiter.com