> I mean generally I want fixed IPs on my local network for robustness.

Same here, which is why I use DHCPv6. It's pretty easy to set up, nearly everything supports it, and it's super reliable.

The only catch is that Android refuses to support DHCPv6 for some reason, which is kinda annoying since it means that you need to keep SLAAC enabled if you have any Android devices on your network. Which means that your DHCPv6-supporting devices will end up with two addresses, but there aren't any real downsides to that.