Do not try to move the goalposts. All this was an answer to "Right now, nobody with an IPv4 address can even attempt send a packet to anyone with an IPv6 address.", which said nothing about the amount of configuration needed.
From my own experience at work, it was very easy - a few lines in /etc/network/interfaces on the firewall/router, and install and configure radvd on the same machine (its configuration was also only a few lines and very simple). That was enough to make every computer on the network have working IPv6 (even the printer, which surprised me). Yes, I did not have to do anything on any machine other than the router.
And there is also teredo. With it, any machine with an IPv4 address, even behind most NAT setups (as long as the teredo port is not blocked by a firewall), can use IPv6 (not only outgoing but also incoming).