Yeah the at least 25 years thing is a cop out. The IPng committee specifically chose the protocol that didn't have a transition plan, and today still doesn't have a transition plan.
I expect we're going to plateau with adoption for a long while now. 50% adoption is meaningless if it doesn't tangibly make a dent in the IPv4 exhaustion problem.
Well, other than the transition plans that it has and still has. The exact same plans that the other options like TUBA had.
If you ignore those then sure, it didn't have a plan.