In IPv6, you can get an address using RA. DHCPv6 only if you want to smuggle some unrelated metadata as options (which, of course, not widely used outside enterprise). DHCPv6-PD are used only when you need a whole prefix.
If everybody implement all the specs out there, we will have two different DNS record type, 4 or 5 address allocation schemes, a handful of IPv6-over-IPv4 protocol, whole a lots of incomplete and incompatible IPv4-ovr-IPv6 protocol.... Etc... while telling everybody ipv6 is simple and ask why we haven't got there yet