No, no, no, no. You haven't really experienced the quality of IPv6 routers at home. The only thing that I can (probably) say with confidence is you will
not need TURN, and even that assumption
can be broken with even more restrictive firewalls that block nearly all UDP traffic or even not know your real public address because IPv6 NAT
does exist (
https://blogs.infoblox.com/ipv6-coe/you-thought-there-was-no...,
https://datatracker.ietf.org/doc/html/rfc6296), but fortunately this is usually found in enterprise stuff. NAT-PMP or router UPnP is probably the wildest: majority don't (remember that I'm focusing on
ISP routers since that most people don't bother to switch to actual routers...*), some only on IPv4 (which is even more frustrating), and only few supports it correctly. Worse, those same broken garbage-level routers have NAT-like firewalls: at least you know what address and port you will contact the other computer, but you will still need UDP (TCP handshake will be very problematic) and you will still need keepalives (or otherwise your firewall will just close the port).
* ... and most that do get another router (usually because they have seen that their Wi-Fi on the "modem" is bad) don't turn on** bridge mode which will be a definite headache on both IPv4 (double NAT) and IPv6 (address conflict, especially if you're using an ISP like Comcast that would only allocate a /64 and no more.
** ... because you need to call up the ISP or even outright refused to bridge it (either because they're stupid but you don't have another ISP to switch or the equipment manufacturer of their garbage special router didn't program one).