Hello, @Atkinson
Thanks for your reply.
1. OK, I suggest using the lwIP demo based on GMAC, the PFE one is quite outdated, and the dependencies are not easy to find.
The lwIP demo(GMAC) for RDB2 could be found from the following page.

In order for obtaining it, you may need to install the S32G TCPIP stack and FreeRTOS packages provisioned by NXP from your NXP account to your S32DS, once installed, by pressing:

Then you may find the demo I mentioned.
2. By default, it is set with IPv4 address, current demo may not directly support IPv6. But I think IPv6 may be supported since it is only related with stack itself, you may need to enable it in lwIP and test if there are issues
BR
Chenyin