How to use touch action in new java client 6.0.0-BETA4

I use java-client 6.1.0 + Desktop 1.6.2, and TouchAction.tap() with WebElement throws UnsupportedCommandException:

org.openqa.selenium.UnsupportedCommandException: Method has not yet been implemented
Build info: version: '3.13.0', revision: '2f0d292'

Apparently Appium server doesn’t support touch yet because the command errors out (404):

[HTTP] --> POST /wd/hub/session/a304c963-e881-4b3c-a0e1-13f32db993b5/touch/perform
[HTTP] {"actions":[{"action":"tap","options":{"element":"0.09312566293240376-11"}}]}
[W3C] Calling AppiumDriver.performTouch() with args: [[{"action":"tap","options":{"element":"0.09312566293240376-11"}}],"a304c963-e881-4b3c-a0e1-13f32db993b5"]
[HTTP] <-- POST /wd/hub/session/a304c963-e881-4b3c-a0e1-13f32db993b5/touch/perform 404 3 ms - 4088

Is there a workaround?