There is nothing to figure out: you take your Linksys/Asus/whatever device, plug in the WAN side to your modem, and your computer(s) to the LAN ports. Perhaps enter your credentials if you're using PPPoE, and you're done.

I'm not sure why you think IPv6 is more complicated than IPv4 for home users when it comes to CPEs.

What exactly do you think needs to be done on an Asus/Linksys for IPv6 protection that is different than IPv4?