Truth is, right now iot devices are protected by nat (your router) and maybe cgnat too (if your isp is good enough and provides that service). With ipv6 those devices will lie exposed to the wan. I hardly see how that’s an improvement.
Also don’t trust regular devices. Windows disabled privacy extensions because of a bug (not sure if it’s fixed already). https://social.technet.microsoft.com/Forums/windows/en-US/57... — I trust my router’s nat much more: it can’t be disabled because of a bug ;-)
You're planning to just get rid of your firewall when you don't need it for NAT anymore?
Some machines’ TCP stacks can be crashed with a single packet. Some IoT devices can be added to botnets. Some get patched.
I think you are blaming too much on ipv6, much of which exists today in the ipv4 world.
You can always set up your router to be a stateful v6 firewall and block wan-to-lan accesses you don’t like or want, much the same way NAT works today, on an outbound-before-inbound model.