Thank you for the post @AhamadullahM
The purpose of NAT64 is to enable IPv6 only clients to communicate with IPv4 only resources: https://knowledgebase.paloaltonetworks.com/KCSArticleDetail?id=kA10g000000ClIFCA0 Based on what you have described, you have opposite scenario. You have IPv4 only client to access IPv6 only network. The NAT64 will unfortunately not work in this case.
Thank you for the reply @AhamadullahM
I am sorry, unfortunately I do not have any hands on experience with NAT46, but on best effort bases I would advice following. Since Palo Alto Firewall does not support NAT46, I would connect IPv6 only ISP link to a router that supports NAT46 (For example Cisco ISR router or Juniper SRX), then let this device do a routing + NAT. The Palo Alto would be connected behind this router for the rest of the functionality (Firewall Features).
If it is technically doable, I would consider dual stack to configure IPv6 between your Firewall and your hosts.
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