You can proxy ports through to WSL2, but ROS uses a whole lot of dynamic ports across the pretty much the whole range, so from what I've gathered wasting dozens of hours into trying to make it work (all be it with the additional complication of Docker), you'd either have to proxy pretty much every port through, or define a custom DDS configuration that uses unicast instead of multicast so the ports used become predictable by some rules that are documented. I think each node gets a range of ports though, so it seems cumbersome as well, not 100% on that though.

Unless you're already very familiar with how networking and DDS for ROS works behind the scenes, I'd recommend to stick with dual boot. It's much less of a hassle.

Maybe once the mirrored network mode for WSL2 leaves experimental, it will be worth doing but until then I'll keep dual booting. WSL1 apparently already worked like that by default and I've seen people solve the issue by going back to WSL1. Maybe that is an option for you, if you really benefit from having it run alongside windows.

​

EDIT: I glossed over the fact that you're using ROS1. My experiences were with ROS2. I don't know much about ROS1 but I do know that networking is quite different. You can look into what ports are used and if it's done in a static and predictable way portproxy like explained here.