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Publicly routable IPv6 addresses behind CGNAT in home environment using Tailscale and VPS

I’ve set up subnet routing via Tailscale from my Oracle VPS to my home RPi4. The VPS has a static IPv4 and a /64 IPv6 allocation. I use the VPS to reverse traffic apps on the raspberry using nginx. I would like to take one step forward by tunneling v6 traffic from my home network to WAN, so every client gets its own IPv6 address. What's the best way to tunnel IPv6 traffic from my home network through the RPi4 to the Oracle VPS? I’m also comfortable with messing up my Asus AC86U router to provide publicly routable IPv6 addresses to all clients via DHCP.

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