Clarify IPv4 / IPv6 dual-stack usage

We currently have documentation on Discovery V5 (IPv6) options and configs, but it may be useful to include a single guide to clarify IPv4, IPv6, and dual-stack usage, similar to [Teku](https://docs.teku.consensys.io/how-to/find-and-connect/configure-ipv6). See https://github.com/besu-eth/besu/pull/10107 for a useful table for `admin_nodeInfo`.