@jpvonhemel
You might want to allow ping. Most of the ICMP6 stuff is used on the local LAN and on the WAN side, pfsense is the "client".
As for sparse addresses, the standard LAN size is a /64, which has as many addresses as the entire IPv4 address space squared. In that huge space, you might have a few dozen working addresses at any time, most of which are temporary. Bottom line, you're not much of a target.
Did that test site list which ICMP6 it was testing?