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

For example, my current configuration only deals with IPv4. When I roam from an IPv4-only network to a dual-stack, my device routes IPv4 traffic over the WireGuard interface, but IPv6 traffic goes out unencrypted.

My VPN server is IPv6-capable, so I could enable it. However, will the client tunnel fail to come up on an IPv4-only network if the config contains IPv6 addresses?