True, but NAT doesn't work without statefully filtering/routing packets, and unlike generic packet filters, the use of NAT is basically a requirement for most people connecting devices to the internet.
The question is: if IPV6 was around 30 years ago and no one ever needed to use NAT to stick a whole address space behind a single address, how would things be different today? How long would it have taken for packet filters to become a default feature on home routers, and what would their default settings be?
How common are stateful packet filters on home routers today? I don't really know - thanks to NAT, you can get away without for most attack scenarios nowadays, so I wouldn't be surprised if vendors don't really bother with it. But given that connection tracking doesn't seem to be that difficult with home router hardware, I would have expected stateful packet filters in home routers as a default feature early on, with everything inbound blocked by default (and then some UPnP like protocol for opening ports as needed, just without the stupid address collisions you get with NAT).
I believe that's what GP was referring to.
(Disclaimer: can't remember which variant of cone/full this is categorized as -- I thought there was a really useful "Current state of NAT in practice" blog post that was linked a few months ago)
Now, it so happens that dynamic NAT also needs to do connection tracking in order to be able to map addresses back and forth, just like a stateful firewall does, and that therefore, it's easy to also implement stateful packet filtering on top of the same connection tracking state - however, there is no need to do NAT in order to do the connection tracking and the filtering based on that, you could have the exact same stateful packet filtering with the exact same security properties, just without messing with the address fields of the packets and all the bad things that result from that.