The 192.168.100.x addresses handed out by DOCSIS modems prior to registration are very short leases, and a proper address provided by your ISP's DHCP server should have been assigned within 30 seconds of the modem completing registration. At this point pfSense should have updated the default route.
If your modem is DOCSIS 3.0 it likely didn't need a firmware update at all. The reconfiguration for IPV6 happens at the CMTS end of the connection with your modem only needing a reset. For a modem to be certified for DOCSIS 3.0 it must support dual stack out of the box.