You can have dual stack, yes. You don’t need to masquerade with IPv6 but you still need to allow incoming traffic on that port on the firewall. You also need to add AAAA dns record.
What do you mean by “unconfigured”? If the status shows Online you are good. If it does not - you are not.
But why are you trying to add ipv6? There is nothing to be gained except more complexity with your setup.
You will need to run Dynamic DNS on client, not router, they will be different IPv6 addresses.
On router/firewall you need to allow the inbound IPv6 traffic to client ip/port(s). No DNat or port forwarding.
on client firewall you need to allow the inbound IPv6 traffic to IP/ports for the interface. Same as for ipv4.
There are benefits to IPv6. After going dual stack, my kids complain less about lag on the xboxs.
No more reverse proxy to run multiple services on same port, as you have as many “external” IP addresses as you have IPv6 enabled devices.