Personally have good experience with https://github.com/Nyr/wireguard-install, there are other script that are available by searching “wireguard setup script github”.
Note: By default Wireguard config generated will route every bit of traffic through Wireguard (which will be slower and probably not wanted in this situation), to change that change AllowedIPs field in Wireguard config, lets say all your machines are assigned 1.2.3.xxx
as IP address, to only access other 1.2.3.xxx
IP through wireguard, change the config to AllowedIPs = 1.2.3.0/24
.
You setup Wireguard server on the VPS with both IPv4 and IPv6. Then you connect both your computer and IPv6-only server to the Wireguard server. After connection, you can connect to the VPN through IP address assigned by wireguard.