It may be possible, but it is not a configuration with which I have had any useful experience. The best I have been able to accomplish with only a /64 is getting it to pass through to a single VLAN. Hopefully another forum member will be able to reply with more details applicable to your situation.
I see that your ISP provides the following on the WAN6:
IPv6: 2401:4900:1c28:9fff::19f:2188/128
IPv6-PD: 2401:4900:1cc8:f24a::/64
With IPv6-PD available (great news!), you should be able to assign the delegated IPv6 range "2401:xxxx:xxxx:f24a::" to any LAN interface. Since this isn't working in your current setup, try resetting your OpenWrt router. Check if the delegated IPv6 block is automatically assigned to the LAN interface by default with the standard OpenWrt configurations (it should!). If it is, you can then proceed with VLAN configuration, and it should still be automatically assigned to any available VLAN. Once you confirm automatic assignment, you can manually assign it to the desired VLAN interface.
I'm not sure, but the relay was functioning properly, and I received IPv6 on the relayed VLAN interface.
Could you try resetting instead of rebooting? This will allow you to verify the out-of-the-box IPv6 OpenWrt configuration and the delegated IPv6 address assignment.
Great! If you can assign the delegated IPv6 "2401:xxxx:xxxx:f24a ::" block to the LAN, it partially solves the issue (you can assign only one IPv6 to your LAN interface because your ISP provides an IPv6-PD /64, leaving no room to divide it into multiple LANs or VLANs).
For the other interfaces, you just need to try relay "2401:xxxx:xxxx:9fff ::" using IPv6 relay mode based on the official documentation: https://openwrt.org/docs/guide-user/network/ipv6/configuration?s=ipv6&s=relay#ipv6_relay
By the way, you can check if your ISP provides only one IPv6-PD /64 block or if multiple blocks can be requested, e.g. two or more IPv6-PD /64 blocks .
I do not have this setup anymore because I was able to obtain multiple IPv6-PD blocks and assign them to each VLAN interface, avoiding IPv6 relay mode.