This is generally speaking the hosters decision. If the server is only listening to IPv6 the client can not simply connect to IPv4 cause there is no server. If the server listens to multiple it is a DNS decision.
If both A and AAAA records are set the decision is up to the client, yes.
But a user that really needs to differentiate between the two and which program uses what should not rely on the programs itself but rather on firewall(s).
So, just disallow TeamSpeak to access IPv6 in your firewall settings.
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