Is there a way with android or IOS to VPN into a mikrotik and get both an IPv4 and IPv6 address?
Are you trying to VPN over IPv6 and get IPv4 and IPv6 or over IPv4?
I am trying to VPN over IPv4 and with my VPN obtain IPv4 and IPv6 access.
Take a look at OpenVPN on RouterOS. You can put it into the ethernet mode and hand out IPv4 and IPv6.
https://wiki.mikrotik.com/wiki/OpenVPN#Bridge_mode
There is a client for Android and Apple.
IOS does not appear to support that. All I see as listed options on IOS are “IKEv2”, “IPsec” and “L2TP”.