The actual solution is network prefix translation. You effectively NAT the primary network when failed over to the secondary. See https://docs.netgate.com/pfsense/en/latest/recipes/multiwan-... for an example.

IPv4 has exact same problem, the NAT is working here because devices does not actually have proper Internet connection, all connections are terminated on NAT and reassembled after.

Actual solution could be extending TCP and UDP or make a new transport layer procotol that handles changing addresses, similar to what QUIC do. But we cannot do it exactly because things like NATs existing, thus QUIC build was build on ossificated UDP. Imagine if instead of IP+port a connection use unique per-connection hash to persist IP addreses changing. No more trying fighting to keep the IP the same.