As predicted:

      We believe that it is not possible to have a "flag-day" form of
      transition in which all hosts and routers must change over at
      once. The size, complexity, and distributed administration of the
      Internet make such a cutover impossible.

      Rather, IPng will need to co-exist with IPv4 for some period of
      time.  There are a number of ways to achieve this co-existence
      such as requiring hosts to support two stacks, converting between
      protocols, or using backward compatible extensions to IPv4.  Each
      scheme has its strengths and weaknesses, which have to be weighed.

      Furthermore, we note that, in all probability, there will be IPv4
      hosts on the Internet effectively forever.  IPng must provide
      mechanisms to allow these hosts to communicate, even after IPng
      has become the dominant network layer protocol in the Internet.

Creating an IPng was always going to be complicated:

      So it's a matter of mathematical and physical fact that to expand
      the address size, you must change the protocol, and that means 
      [three] things immediately:

            You have to change the version number.

            You have to add new code to handle the new version.

      […]

            You need a coexistence technique so that updated systems, 
            with the new protocol, can connect to old systems that know 
            nothing of the new protocol.

      Two minutes of thought show that this third requirement has only 
      two solutions:

            (3A) Dual stack, in which the new machines speak both 
                 the old (IPv4) and new (IPng) protocol.

            (3B) Translation, in which something translates addresses
                 between the old and new protocols.

* https://datatracker.ietf.org/doc/html/rfc1671