> IPv6 restores globally routable addresses to every node, letting peers connect without contortions.
Global routeability doesn't automatically mean global reachability.
Many consumer and professional routers will block inbound TCP connections, and incoming UDP traffic without at least similar outbound UDP traffic preceding it, so you will still need hole punching.
Hole punching does get significantly more easy with v6, though, since there's really only one way to do "outbound connections only" firewalling (while there's several ways to port translate, some really hostile to hole punching).
Arguably one thing that's missing is a very simple, implicit standard that allows signalling a willingness to accept an inbound TCP connection from a given IP/port that such stateful firewalls can honor, similar to how they already implicitly do it for UDP, but with HTTP 3 running over UDP, the point might well be moot soon.
This is true, but the beauty of UDP is that it's basically just a raw socket with a tiny 8 byte header slapped on top, with 2 bytes for source port, 2 bytes for destination port, 2 bytes for length, and 2 bytes for a checksum.
You could slap a UDP header on top of the TCP header and get the benefits of TCP with the hole-punching capabilities of UDP, provided you implemented some kind of keep-alive functionality and an out-of-band way of telling the "server" to establish an outbound connection with the "client". Or use QUIC, assuming it fits the use case.
At least there's an explicit standard for signalling: RFC 6887 Port Control Protocol. Many routers also support it.
But it's often disabled for the same reason as having router-level firewalls in the first place.
That simple, implicit standard exists since RFC793:
Every stateful firewall supports this. All you need to communicate off-band is IP addresses and ports.