Actually, it looks like the setup is ok, your tcpdump is showing ping going out and replies coming back on WAN interface, thanks that helps troubleshoot!
What version of pfSense are you running?
If <2.2.x have you enabled IPv6 processing (System -> Advanced -> Networking -> Allow IPv6)?
Make sure your IPv6 prefix isn't in the IPv6 bogons space. Either uncheck Bock bogons networks on WAN interface, or Diagnostics -> Tables -> bogonsv6 and make sure its not in the list (or its parent subnet), and if yes, updates bogons list, and if still present, then yell at your ISP.
You can also set Status -> System Logs -> Settings -> Filter Descriptions -> Display as column to find out what rule is dropping the traffic. If it is the default deny rule, then there is a problem in your policy.
Second, your inbound rule only allows ICMP to the WAN address. IPv6 by nature allows full routability, so you might want an inbound ping rule on WAN for testing. It also might allow unsolicited pinging, but that can be controlled by limiting the valid destinations.
Action: Pass
Interface: WAN
TCP/IP Version: IPv6
Protocol: ICMP
IPCMPv6 type: Echo request if you want to allow inbound pinging, or Echo reply if you're trying to diagnose non-responses.
Source: any
Destination: LAN net or host alias