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If I'm on IPv6 there is no NAT and it's basically security by obscurity (not really but port scans would take forever)That's why firewalls exist. And they work with IPv6.
My ISP gives out an IPv6 address to my Asus, which also picks up some prefixes for allocation via DHCP-PD. This causes my printer pick up an IPv6 address, but it is not accessible to the outside world.
Statefull firewalls still exist with IPv6, so by default connections from the general Internal cannot connect to your 'internal' systems. Hole punching still needs to be done with UPNP/PCP (at least on residential systems; SMB may not want this)
* http://upnp.org/specs/arch/UPnP-arch-AnnexAIPv6-v1.pdf
* https://en.wikipedia.org/wiki/Port_Control_Protocol
The advantage of IPv6 is that you no longer have to have things like STUN, TURN, etc. (Remember Skype super-nodes?) Your client knows its own IP(v6) address, gets the IP address of the other end, and then tells your firewall to allow connections between just those two addresses. Once your session is done the ACL is deleted and you're completely default-blocked from the outside again.
Copy-pasting from a previous discussion a little while ago:
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An IP connection is started from the 'inside' to the 'outside', and the source-destination tuple is recorded. When an 'outside' packet arrives the firewall checks its parameters to see if it corresponds with an existing connection, and if it does it passes it through. If the parameters do not correspond with anything in the firewall's table(s) it assumes that someone is trying to create a new connection, which is generally not allowed by default, and therefore drops it.
The main difference is that with IPv4 and NAT the original (RFC 1918?) source address and port are changed to something corresponding to the 'outside' interface of the firewall. With IPv6 the address/port rewriting is not done.† Only state tables are updated and checked.
New connections are not allowed past the firewall towards the inside with either protocol, and only replies to connections opened from the inside are passed through.‡
There's no magical security behind NAT: tuples and packet flags are read, looked up in a state table, allowed or not depending on either firewall rule or state presence. The security comes from the state checking.
† It is possible to have private IPv6 addresses using ULA, and then the router/firewall uses NPTv6 to rewrite the prefix (leaving the /64 interface component alone).
‡ Just like with IPv4 (NAT), to allow unsolicited 'new' connections in you have to do do firewall hole punching with (e.g.) UPNP. But by default things are blocked.
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No-NAT != access from the Internet.