That’s like saying HTTP can talk to FTP servers as long as there is an HTTP to FTP proxy.
The only thing that makes them seem compatible is there is a well formed address space in v6 that clients send v4 requests to. But it’s still v6 and a 64 proxy needs to have an actual IPv4 address to translate the source to before sending it via v4 to the actual destination.
The usual "they should have designed it to be compatible" nonsense usually comes from the crowd with zero suggestions of how to have a 32-bit addressed device send to packets to something with an address outside its universe.
Point is that djb was as wrong then as they are now.
Which was true of all the IPng candidates, and not just the one that ended up being chosen for "IPv6".
There is no way to expand the addresses space (as found in IPv4) to something greater that 32-bits in a compatible: new API calls, data structures, DNS records, etc, were always going to be needed.
To list "not compatible" as a con of IPng/IPv4 is non-sensical.
The same could be said of the awful mess we have currently with IPv4 NAT almost everywhere on the current IPv4 network (and CG-NAT as well).