Neutrino-induced charged-current single π+ production in the Δ(1232) resonance region is of considerable interest to accelerator-based neutrino oscillation experiments. In this work, high statistics differential cross sections are reported for the semi-exclusive reaction νμA→μ−π++ nucleon(s) on scintillator, carbon, water, iron, and lead targets recorded by MINERvA using a wide-band νμ beam with ⟨Eν⟩≈6~GeV. Suppression of the cross section at low Q2 and enhancement of low Tπ are observed in both light and heavy nuclear targets compared to phenomenological models used in current neutrino interaction generators. The cross-section ratios for iron and lead compared to CH across the kinematic variables probed are 0.8 and 0.5 respectively, a scaling which is also not predicted by current generators.