@johnpoz Thank you for the hints. I used the command
pfctl -sa
to grab the complete rule set. There are currently no block rules for icmp traffic and the label "gateway monitoring" cannot be found. So the reboot must have cleared this rule, which seems to imply that it get dynamically generated. The next time this issue reoccurs, I will try the above command again to verify that the blocking rule is in the listing.
Indeed, I use the cloudflare IPv6 DNS server address to verify that the IPv6 gateway is up. My internet provider (Xfinity in the US) changed their network early this year, and since then, their IPv6 gateways are not pingable anymore. So I had to choose another address based on recommendation from someone in previous thread on this message board.
I do not have much experience with IPv6 either. I just set up the gateway because the internet provider is assigning both IPv4 and IPv6 addresses. If I were not a little OCD, I would perhaps ignore it. But understanding the issue would be useful for my education.