Technically it is possible - with nftables (or old iptables) but idk if it can be set up on the UDR.

Usually ipv6 is passed by RA (radvd). DHCPv6 is not really recommended.

https://en.wikipedia.org/wiki/Radvd

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So I should disable DHCPv6 but keep RA turned on?

Is this only for WAN or does it make a difference for the LAN/VLAN settings too?

Just answered my own question - RA is only under the LAN and VLAN settings.

Will see if turning off DHCPv6 on em makes a difference.

As before, IPv6 works fine on my main LAN but not the VLAN. The VLAN is still only getting link local addresses.

The WAN is using PPPoE in case that makes any difference.