Depends how you define "without any reconfiguration".
If you mean that they are literally not to configure anything whatsoever, including with autoconfiguration if that's provided by the OS then: No, obviously. Without a configuration change you're stuck with IPv4 and if we could have figured out a way to make hundreds of billions of nodes addressable using IPv4's 32-bit addressing, we would have used this hole in number theory to solve world hunger or make our own pocket universe or something not wasted time on trivia like the Internet.
If you meant reconfigure the local node (possibly automatically) but not any intermediary nodes in the network the answer is yes, with a caveat. You will have to tunnel, and so you may (will) have a less direct route than you would natively and the overhead of the tunnel. Several autoconfigurable (ie you say "I want to enable this" and then it works) tunnel protocols exist, with varying parameters for how much infrastructure someone else has to have built somewhere (an anycast address? a router? lots of routers?), what sort of performance you can expect and how robust it will be against badly designed NAT / firewalls / etc.
This isn't how things could really work for most people though. A world of tunnels and ad-hoc connectivity is not a future millions of people can live in, it's temporary local solution. ISPs will have to deploy native IPv6, the problem is that they should have done this (at least) five years ago, and instead they'll probably start just after it's too late.