I wasn't clear that you were connecting pfsense to the ISP modem and getting a prefix from it. Does the modem allow a port to be bridged so you can get dedicated prefix for pfsense? That's what many people here are doing. I have two pfsenses connected this way, each with a separate prefix. The ISP SHOULD NOT be changing the prefix unless the DUID of the router changes or the router releases it. If they are routinely changing the prefix even if the DUID is unchanged and the router is not releasing it, they are not competent.
As for changing prefix being a benefit for privacy, that's what a firewall is for. If you think changing prefix is a feature, you are probably one of the only pfsense users who thinks so. I agree with the other comment that "privacy" addresses are for privacy.
pfsense does not deal with prefix changes very well. It could and should do a better job, but for some reason, it's not a priority. The feature "do not release prefix" was intended to prevent a prefix from changing due to pfsense releasing it.
You should try connecting pfsense to a bridged port and see if the behaviour is different and you should ask the ISP why they are changing the prefix. If you are stuck with a frequently changing prefix, then you are going be dealing with firewall issues. I think you would be better off using a tunnel from hurricane electric than what your ISP is providing.