It's possible. Just not with the exposed pfsense gui. Here are some logs after some heavy editing in dhcpd6.conf (rog is a W10 client):
bind debug log
client 2a02::1#23748/key dhcp_updater: updating zone 'example.com/IN': update unsuccessful: rog.example.com: 'name not in use' prerequisite not satisfied (YXDOMAIN)
client 2a02::1#23748/key dhcp_updater: updating zone 'example.com/IN': deleting rrset at 'rog.example.com' DHCID
client 2a02::1#23748/key dhcp_updater: updating zone 'example.com/IN': adding an RR at 'rog.example.com' DHCID AAIB6pZPrA7zoDg1s+EYgl0GGo0yjS0hKNuiDIcN0lyFMHs=
client 2a02::1#23748/key dhcp_updater: updating zone 'example.com/IN': deleting rrset at 'rog.example.com' AAAA
client 2a02::1#23748/key dhcp_updater: updating zone 'example.com/IN': adding an RR at 'rog.example.com' AAAA 2a02::b9c7
Pfsense dhcpd log:
May 13 08:33:57 srv dhcpd: Sending Reply to fe80::4854:ff3c:xxxx:xxxx port 546
May 13 08:33:57 srv dhcpd: Added new forward map from rog.example.com to 2a02::b9c7
May 13 08:33:57 srv dhcpd: Added reverse map from 7.c.9.b.0.0.0.0.0.0.0.0.0.0.0.0.0.0.0.0.0.0.0.0.0.0.0.0.2.0.a.2.ip6.arpa. to rog.example.com
May 13 08:33:58 srv dhcpd: Renew message from fe80::4854:ff3c:xxxx:xxxx port 546, transaction ID 0xA7A3900
May 13 08:33:58 srv dhcpd: Reply NA: address 2a02:::b9c7 to client with duid 00:01:00:01:1d:4e:73:c9:10:bf:xx:xx:xx:xx iaid = 51429192 valid for 1920 seconds
```
Updated zone record:
$TTL 600 ; 10 minutes
rog A 10.0.200.7
AAAA 2a02::b9c7
DHCID ( AAIB6pZPrA7zoDg1s+EYgl0GGo0yjS0hKNuiDIcN0lyF
MHs= ) ; 48819 13 32
The problem is that the pfsense dhcpd server is very picky about dhcp clients. I couldn't register any apple ios device in ipv6 ddns zone. On the other hand i had no problems with a HP printer. ISC dhcp 4.3.4 might fare better.