> Is there a legitimate reason for some network appliance with any form of persistent storage that you can write to once or more to use different DUIDs through its lifetime?
Even the operating systems, with persistent storage in the form of harddisks get this wrong: a DUID is reassigned on every reinstall, at least. MAC addresses are convenient since they are basically global serial numbers in the form of ROM, fuses or similar. Only later were MAC addresses generated on the device by a RNG. There is just no hope for the DUID situation to ever get better, meaning DHCPv6 will never get useful.
> Of course if there is little benefit to you, replacing your existing infrastructure and processes is going to be a high relative cost. This is true of any new technology
No, it isn't. There are technologies that are designed to be easy to migrate to newer versions. Usually one doesn't notice those, because of the lack of problems. E.g. going from Ethernet to WiFi is relatively simple because of the intentional huge similarities. Upgrading a HTTP server from 1.0 to 1.1 to 2 doesn't change a lot in your processes, although there are huge differences especially from 1.1 to 2. TLS 1.3 looks completely different from 1.2 on a protocol level, but it was designed with upgrades in mind. To an admin or end user, it is practically the same.
Other technologies, e.g. POP3 vs. IMAP or cloud-based vs. physical computing can easily run side-by-side.
IPv6 is lacking in both methods of migration. You can't transparently upgrade (which would be hard to accomplish because of the different addresses). And you can't run it side-by-side easily, because of problems like the lacking DHCPv4/DHCPv6 correspondence. I would argue that IPv6 would be much more of a success if designers had not purposefully ignored that.