In practice, P2P over ipv6 is totally screwed because there are no widely supported protocols for dynamic firewall pinholing (allowing inbound traffic) on home routers, whereas dynamic ipv4 NAT configuration via UPnP is very popular and used by many applications.
You just send a (UDP) packet to the other side's address and port and they send one to yours. The firewalls treat it as an outbound connection on both sides.
just don't use a firewall
Most home routers do a form of stateful IPv6 firewall (and IPv4 NAT for that matter) compatible with STUN. UPnP is almost never necessary and has frequent security flaws in common implementations.