I have a OpenWRT 23.5.05 router, IPV6 works fine for my setting. However, I observed strange behaviour. When I reboot router, I get IPv6-PD immediately. But the WAN6 get IPV6 address after almost 12 minutes. Is this expexted behaviour or not? For remote access to IPv6 address, which IP address shall I use, WAN6 IP or LAN IP? Wireguard tutorail recommend to use LAN IP to simplify firewall setting. I am still struggled for Strongswan use case.
It is not expected.
You can use either the WAN or the LAN IP for accessing the router. You should use the LAN IPs for accessing your devices.
If your IPv6 prefixes are dynamic, you should also use a dynamic DNS provider that understands how device IPv6 addresses are formed, and this means using the LAN IPs. See my (very old) blog post:
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It's not 'expected', but some ISPs do rather broken things...
My own ISP only starts sending RAs after 15 minutes, which is utterly broken and against specs.
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As long as you also get a default route via a link local address at least all clients can get Internet access, but if the router itself want i.e. an ntp answer but has for itself no GUA it's kinda sad till bad.
Thank you all for the insight, really helpful.