This is insane. I don't want to have to learn, document, configure, and patch a different firewall on every internet connected device I own. That's a total nightmare. Computers can have their firewalls managed at the domain level. How is that support to work for bluray players, game consoles, light bulbs, phones, echo devices, door cams, thermostats, and kitchen appliances?
Nope. At a minimum everyone should have a stateful firewall at their edge making their devices impossible to reach/scan from the internet at large. Home routers that defaulted to using NAT made that dead simple.
On the rare occasion you really need something open to the entire internet it can sit in your DMZ. If I ever do make the move to using IPv6 on my network I'll likely continue to use NAT