> It's hard to tell someone to connect to 2601:3c7:4f80:1a01:4d2:3b7a:9c10:6f5e.

If you would like your IPv6 addresses to be more human-friendly, you could use DHCPv6 (in addition to/instead of SLAAC) and end up with addresses like 2001:db8:3c7:4f80::123. Sure, it's 5 groups of e.g. 3-4 hex digits rather than 4 groups of up to 3 digits, but I think it's much easier than your example. You might set your router to use <prefix>::1 and/or fe80::1 (see OpenWRT's ipv6 suffix/ip6ifaceid option).

DNS servers (that you might occasionally have to type into config by hand) tend to have "nice" IPv6 addresses, e.g. Quad9 apparently uses 2620:fe::fe [1].

> But I'm really not interested in maintaining public DNS for the dynamic addresses at home on my LAN.

I think dnsmasq can these days create AAAA records for local machines whose hostnames it learns via e.g. DHCP.

If you have a public server on the internet and your provider gives you a random-looking address using all 128 bits (and no /64 prefix for example) perhaps using (public) DNS is fine.

Opinions my own.

[1] https://quad9.net.