Whenever I have got a new Raspberry Pi or PinePhone and connect it to the home network, I always SSH to the raw IP first. (Sure, at some point I’ll configure the router’s DHCP settings to ensure the new device gets a stable IP address, and then I can just use an SSH alias.) I would imagine that this is a very common use case.
I got a new NAS last week and only ever sshed to [hostname].local. Didn't have to configure my router at all. Come to think of it I don't even know (or care) whether I was SSHing via IPv4 or IPv6.
Any decent home router will automatically add the hostname of all DHCP(v6)-configured devices to its DNS service. You shouldn't need raw addresses at all.