A firewall can be run "in-line" and not have IP addresses on the interfaces. On a Palo Alto firewall this would be a "virtual wire", and "transparent firewall" or "bridging firewall" would be other common terms.
Thanks for the hints. Currently, I have a fully routed setup with two routers behind the IPSs box, multiple wireless networks and VPN uplinks (via wireguard) to my servers. It's just that all of this is ipv4, because I don't see any way of doing that using a single /64 network.