I think you might be mixing two things. It does not matter if you have IPv4 or IPv6 DNS resolvers, any of them can resolve hostnames pointing to both IPv4 (A records) and IPv6 (AAAA records).
Ping in RouterOS is another matter. There were few older threads about the same thing, but it looks like nothing changed since then. Ping only resolves A records. You can work around that if you have IPv6-only hostname (without IPv4 A record, like ipv6.google.com), using “/ping [:resolve ipv6.google.com]”. But there does not seem to be any way to make it work with dual-stack hostnames like www.google.com.