Things in IPv6 land can have multiple IP addresses - you can have a fixed address or use a fixed link-local address for an entry DNS if you're not using something like multicast DNS, but it can still initiate connections using a privacy extension address.
Even now I doubt many home users have a local dns server for reaching their printer by name. I think Windows uses NetBIOS for this purpose, which should work fine over IPv6 too.
Some models of home routers do run an internal DNS server which makes things accessible under a subdomain with whatever name you've set for that device in the router's configuration.