IPv6 makes P2P routing substantially easier, even in a world of default firewalls that drop unsolicited packets. You can still apply standard NAT busting techniques like STUN with IPv6 devices behind firewalls, and you get much better results because IPv6 removes the need to track and predict the port mapping a standard NAT does. Two P2P systems can both send unsolicited packets to each others IPv6 addresses, with a specific port, and know that port number isn’t going to be remapped, so their outbound packets are guaranteed to have the right address and port data in them to get their respective firewalls to treat inbound traffic on those addresses and ports as solicited.
This is particularly useful when dealing with CGNATs, where your residential devices ends up behind two NAT layers, both of them messing with your outbound traffic, which just creates an absolute nightmare when trying to NAT bust. IPv6 means that you’re no longer dealing with three or more stateful NATs/firewalls between two peers, and instead only have to deal with at most 2 (in the general case) stateful firewalls, who’s behaviour is inherently simpler and more predictable than a NAT ever is.