Hi,
while testing IPv6 with customers, we fell over quite a few cases, where customers aren't reachable on inbound calls most of the time. And digging into this, we found the home router firewall as the cause for those problems.
Normally, you would think, all the NAT problems cease when switching to IPv6. But actually, right now I don't know how to fix that problem.
In IPv4 NAT scenarios, we would flag the customer during the registration, and Kamailio would send NAT pings (those 4 bytes of UDP junk) every few seconds to keep the firewall in the NAT router open. And that worked pretty great.