Yes, I use direct IPv6 peer-to-peer connections both outbound and inbound using the delegated prefix.
Even for a changing prefix, if operating a DNS authoritative server for a domain, any changes to the prefix can be quickly and automatically updated in both forward (AAAA) and reverse (PTR) resource records provided the TTL for those records is appropriately short, and thus allow almost seamless inbound via FQDNs. I do this with a bind9 (hidden) master locally that notifies external slave servers operated by a highly available, anycast, DNS service.
Even for a changing prefix, if operating a DNS authoritative server for a domain, any changes to the prefix can be quickly and automatically updated in both forward (AAAA) and reverse (PTR) resource records provided the TTL for those records is appropriately short, and thus allow almost seamless inbound via FQDNs. I do this with a bind9 (hidden) master locally that notifies external slave servers operated by a highly available, anycast, DNS service.