The production of a $W$ boson in association with a single charm quark is studied using 140 fb–1 of $\sqrt{s}$ = $13$ $\mathrm{TeV}$ proton-proton collision data collected with the ATLAS detector at the Large Hadron Collider. The charm quark is tagged by the presence of a charmed hadron reconstructed with a secondary-vertex fit. The $W$ boson is reconstructed from the decay to either an electron or a muon and the missing transverse momentum present in the event. The charmed mesons reconstructed are D+ → K– π+ π+ and D*+ → D0 π+ → (K– π+) π+ and the charge conjugate decays in the fiducial regions where $p$T($e,μ$) > 30 GeV, |$η(e,μ)$| < 2.5, $p$T (D(*)) > 8 GeV, and |$η$(D(*))| < 2.2. The integrated and normalized differential cross sections as a function of the pseudorapidity of the lepton from the $W$ boson decay, and of the transverse momentum of the charmed hadron, are extracted from the data using a profile likelihood fit. The measured total fiducial cross sections are ${σ}_{fid}^{OS – SS}$ (W– + D+) = 50.2 ± 0.2 ${(stat)}_{–2.3}^{+2.4}$(syst) pb, ${σ}_{fid}^{OS – SS}$ (W+ + D–) = 48.5 ± 0.2 ${(stat)}_{–2.2}^{+2.3}$(syst) pb, ${σ}_{fid}^{OS – SS}$ (W– + D*+) = 51.1 ± 0.4 ${(stat)}_{–1.8}^{+1.9}$(syst) pb, ${σ}_{fid}^{OS – SS}$ (W+ + D*–) = 50.0 ± 0.4 ${(stat)}_{–1.8}^{+1.9}$(syst) pb. Results are compared with the predictions of next-to-leading-order quantum chromodynamics calculations performed using state-of-the-art parton distribution functions. Additionally, the ratio of charm to anticharm production cross sections is studied to probe the $s$-$\bar{s}$ quark asymmetry. The ratio is found to be ${R}_{c}^{±}$= 0.971 ± 0.006 (stat) ± 0.011 (syst). The ratio and cross-section measurements are consistent with the predictions obtained with parton distribution function sets that have a symmetric $s$-$\bar{s}$ sea, indicating that any $s$-$\bar{s}$ asymmetry in the Bjorken-x region relevant for this measurement is small.