1) The NAT64 translation function (stateful or stateless) is currently only supported on the Cisco ASR1k and CRS-1/3 platforms. I am not sure what the roadmap looks like for integrating NAT64 into the ISR family (likely to be ISR-G2) at this stage.
2) The destination IPv4 address is embedded into the synthesised AAAA record handed out by your DNS64 server.
64:ff9b::/96 looks to be your NAT64 prefix. The destination IPv4 address is embedded after that.
e.g. ad = 173, c2 = 194, 48 = 72, 64 = 100
3) Given you have an ISR router you cannot configure it. However have a read of the following white-paper which explains all the translation options and provides some sample configuration.
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