It is irrelevant what we can do now.

At the time when it was designed, IPv6 was well designed, much better than IPv4, which was normal after all the experience accumulated while using IPv4 for many years.

The designers of IPv6 have made only one mistake, but it was a huge mistake. The IPv4 address space should have been included in the IPv6 space, allowing transparent intercommunication between any IP addresses, regardless whether they were old IPv4 addresses or new IPv6 addresses.

This is the mistake that has made the transition to IPv6 so slow.