The truth is that there's always other ways to you find the IPv6 address of various devices inside a home. Many of them will happily tell you if you just send out the right broadcast (e.g. zeroconf) or they connect to services on the Internet that can be spoofed or just have generally terrible security (e.g. the addresses of all devices are publicly discoverable).
Another fun way to find these devices is buying up dead domain names (e.g. because the company no longer exists) and setting up services that auto-hack the insecure devices once they can finally "phone home" again due to the malicious domain suddenly coming back online. This kind of hack works regardless of firewall rules (assuming the device is allowed to "phone home" at all).
I found out retroactively after my router had been pwned and was acting as some sort of shady DNS server. I'll never actually know the method by which it was compromised, but I made a few educated guesses.
in practice, the I in IoT means that the device connects to your wi-fi. whether that extends to the open web or not, it's still an IoT device, even if it doesn't conform to the word "internet" in the strictest sense
Just because I build a private network of cameras, power monitors and weather sensors at my house doesn't mean those don't qualify as an IoT device.
Many devices work just fine with local only connection. If an IOT devices does not work without internet that is a reason to not buy it.
But even that analogy isn't perfect, because while buttercream frosting made from margerine is usually cheaper and lower quality, from what I've seen, "IoT" devices that don't depend on remote servers, or send back telemetry tend to be higher end and more expensive.
If what you're getting at is that most networked devices sit behind a consumer firewall, and that's probably good enough -- well, I mostly agree.