In my experience, the IPv6 protocol is much simpler than the IPv4 protocol. However, the IPv6 tooling and documentation is still worse than it is with IPv4, and dual-stack is inherently going to be more complicated than implementing any single protocol, so I do have some sympathy towards "IPv6 is hard".

For example, the IPv6 packet structure [0] is much simpler than the IPv4 packet structure [1]; SLAAC [2] is much simpler than DHCPv4 [3]; IPv6 multicast [4] is much simpler than IGMP [5]; IPv6's lack of NAT simplifies peer-to-peer networking compared to IPv4; ULAs [6] prevent the annoying address conflicts you get with IPv4 [7]; etc.

[0]: https://en.wikipedia.org/wiki/IPv6_packet#Fixed_header

[1]: https://en.wikipedia.org/wiki/IPv4#Packet_structure

[2]: https://en.wikipedia.org/wiki/IPv6_address#Stateless_address...

[3]: https://en.wikipedia.org/wiki/Dynamic_Host_Configuration_Pro...

[4]: https://en.wikipedia.org/wiki/IPv6#Multicasting

[5]: https://en.wikipedia.org/wiki/Internet_Group_Management_Prot...

[6]: https://en.wikipedia.org/wiki/Unique_local_address

[7]: https://stackoverflow.com/a/52374482/30512871