I'm using pfsense "track interface" to assign IPv6 addresses, works perfectly. If you have an IPv6 DHCP service running somewhere on your network, you shouldn't need to assign a static entry on the pi, however it is is possible to do this.
The easiest way I have found to assign an (additional) static address to the pi ( tested on Raspberry Pi OS Lite, Release date: January 11th 2021) is to create a file /etc/dhcpcd.exit-hook, content (example):
#add secondary IP address
if [ "$reason" = "PREINIT" ]; then
sudo ip -6 addr add fdaa:bbcc:ddee:2::5552/128 dev eth0
sudo ip -4 addr add 192.168.2.120/24 dev eth0 label eth0:1
exit 0
fi
example for IPv4 and IPv6, both are possible, simultaneously, change the addresses to suit your needs.