I'm pretty underwhelmed by IPv6. It looks like the typical "horse designed by committee."
I suspect that what will actually end up being implemented, will be a core subset of the spec.
We'll have to see what's still standing, when the dust settles.
Your computer, and every other computer on the planet, already supports the entire IPv6 spec. There is no subset.
The IPv6 spec looks long because it also includes protocols that are separate on IPv4 (DHCP/SLAAC, NDP, depending on the document ICMPv6, mirroring DHCP, ARP, ICMP, NetBIOS, etc.), as well as the addressing schemes that were different RFCs in IPv4 such as multicast/unicast/network classes/subnets.
As for the implementation: just about anything more powerful than an ESP32 has the entire protocol implemented and running already.