An unique IPv6 may be theoretically assigned to each end device and thus solve the accessibility problem for locally-hosted servers, but I doubt internet providers do this in practice and I am afraid that many providers don't support IPv6 at all.
IPv6 works exactly how you describe, that's the whole point of it. No NAT, just IP addresses. Some gaming consoles use it for peer to peer multiplayer so it is in demand even by normies. One of the problems is competition is stifled in the ISP market, by monopolies and ridiculously long contracts.