Hello Li,
Feature Navigator at CCO (login needed) is your friend to find all these details. Currently NAT64 is only supported by IOS-XE and CGSE.
1. IOS-XE: Stateless NAT64 is available in XE 3.2 and Statefull NAT64 is on the roadmap.
2. CGSE: Stateless NAT64 is available in XR 3.9.3 and Statefull NAT64 is on the roadmap.
Regards,
Salman