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.