Best way to test network latency?

I'm doing a bachelor's thesis where i want to research latency differences in ipv4 and ipv6 traffic.

I want to test if i send ipv4 traffic on a network through a router to a server and back if there is a difference in RTT when compared to ipv6 traffic. In other words if i send a ipv4 packet over the network will it take the same time to get a response as it would for ipv6.

My teacher recommended i look in to load testing tools like iperf3. However from what i understand it looks like iperf3 only shows bandwidth, jitter (latency variation), and packet loss, not latency. While that does seem interesting, it's not part of the scope of my research.

So my question is, is there a load testing tool out there that I could use that you guys recommend, or am I better off just writing a script myself that sends ICMP packets and writes the RTT to a log file?