I just now checked on my Samsung phone (Android 11) and cant find any settings either to disable IPv6 entirely or alter IPv6 DNS settings.
Maybe I'm lookin at the wrong spot 
FYI, your router advertises IPv4 DNS server details via the DHCP protocol:
$ sudo pihole-FTL dhcp-discover
Scanning all your interfaces for DHCP servers
[..]
dns-server: 10.0.0.2
And most likely the router advertises IPv6 DNS details via IPv6 RA (Router Advertisement):
$ rdisc6 eth0
[..]
Recursive DNS server : fd00::3ea6:xxxx:xxxx:xxxx
$ man rdisc
[..]
DESCRIPTON
RDisc6 is an Unix program which implements the ICMPv6 Router
Discovery in userland (it is normally done by the kernel). It
is used to lookup the list of on-link routers and IPv6 pre‐
fixes.
You can install this rdisc6 tool on the Pi to inspect yourself by running below:
sudo apt install ndisc6
$ apt show ndisc6
[..]
Description: IPv6 diagnostic tools
ndisc6 gathers a few diagnostic tools for IPv6 networks including:
- ndisc6, which performs ICMPv6 Neighbor Discovery in userland,
- rdisc6, which performs ICMPv6 Router Discovery in userland,
- rltraceroute6, a UDP/ICMP IPv6 implementation of traceroute,
- tcptraceroute6, a TCP/IPv6-based traceroute implementation,
- tcpspray6, a TCP/IP Discard/Echo bandwidth meter,
- addrinfo, easy script interface for hostname and address resolution,
- dnssort, DNS sorting script.
Dont post full unredacted output for above ones here bc it can contain private details!
Only proper solution seems to be to get access to the router settings?
And no you dont necessarily need IPv6.
Usually IPv4 only will suffice.