Author is right about everything. Also: IPv6 doesn't fix this, it just introduces a new problem. IPv6 machines end up with local firewalls + stateful firewalls on the router. That router doesn't let in inbound cons. There is a part of UPnP that lets you add "pin holes" (it works like you expect) -- but the drawbacks are its kind of obscure, poorly implemented, and not guaranteed to be enabled.

The idea of router sounds simple and like it should implement some standard protocols. But in practice -- a lot of it is a mishmash of proprietary, ad hoc shitware. Something I never hear spoken about is the deep packet inspection filter component of the router firmware. It's a part of the router that decides on what traffic is allowed / not, and almost no company publishes this part. So you're not even in control of your own Internet traffic, tiny blobs of code written by some company get to decide if something is allowed or not.

If that sounds sus AF and kind of a bad idea -- well, it is. You can always run 100% open software with open-wrt. But the thing is -- the Internet isn't just your part of it. It's a network of networks, and all those shitty routers, with all that shitty firmware, is deeply ingrained within the entire Internet. That's millions of devices that would need to be replaced to fix the issue.