Dual-stack was the only coexistence option for a long time, until NAT64 came around. There were a whole bunch of attempts at compatibility, e.g. with "::1.1.1.1" and "::ffff:1.1.1.1" as IPv6 addresses, they just didn't go anywhere. (Well, not quite, the latter is in POSIX and in socket libraries around the planet. Doesn't leave the host though. At least it's not supposed to. I have some horror stories…)

NAT64 started happening because it solves real problems — large eyeball networks, particularly mobile phone networks, didn't want to pay for twice as large table sizes on their routers and twice the maintenance effort. So they made IPv6 end hosts capable of connecting to IPv4 systems. But this is 2010 era, IPv6 was ≈15 years old at that point!