I wonder how often the assigned prefix changes with most of the regular ISPs. I'd have to look someone else's router since I'm still stuck on an old contract. But I believe what I saw with some of the regular consumer contracts: the prefixes stay the same for a long time. You could just slap a free DynDNS service on top and be done with it.
But yes, I think this used to be the promise... We'd all get IPv6 and a lot of gadgets like NAS systems, video cameras and a wifi kettle and they'd be accessible from outside. Instead of that we use big capitalist cloud services and all the data from the internet of things devices has some stopover in the China cloud.