I'm not really seeing a reason why it would be impossible to open firewalls in that scenario. More work, sure, but by no means impossible. In any case TFA says right up front that it is trying to solve the problem of overlapping subnets, which IPv6 solves nicely.
It's completely impossible if you simply don't have the necessary access. Not everybody can administer all firewalls upstream from them.
Nor can everyone control whether their connection supports v6, unfortunately.
> I'm not really seeing a reason why it would be impossible to open firewalls in that scenario.
Cheap ass ISP-managed routers. Got to be lucky for these rubbish bins to even somewhat reliably provide IPv6 connectivity to clients at all, or you run into bullshit like new /64's being assigned every 24 hours, or they may provide IPv6 but not provide any firewall control...
Then you've probably never worked in any serious networked embedded systems space. Getting people to open ports on the firewall and making the firewall configuration palatable to the end customer is like a quarter of what I think about when my team makes new features.