In #17840 (moved), tor clients bootstrap over IPv6 when configured to prefer IPv6, or only use IPv6. We also maintain bridge clients' preference for IPv6, while fixing some of their address selection code.
To prefer IPv6, a Tor client should set:
ClientUseIPv4 0, or
ClientUseIPv6 1 and ClientPreferIPv6[OR,Dir]Port 1, or
configure bridges.
But this requires Tor users to know whether IPv4 or IPv6 works better for them, which is not ideal. In future releases, we could automatically use IPv6 if clients can bootstrap over it (#17217 (moved)), perhaps by using a "happy eyeballs"-like algorithm to try both IPv4 and IPv6, and switch between them depending on which one works better (#17835 (moved)).