Earlier quoted context omitted.
Everything should get its IPv6 configuration via SLAAC. DHCPv6 is only useful when you plan to provide prefix delegation for extra routers or network boot information.
So how do you do DNS then? Not sure if this is a good source but it had some history to recap, and it doesn't look pretty... https://www.reddit.com/r/networking/comments/ajb2ec/comment/... [...] To be honest because of this hot mess if you want to reliably support any possible client you'll need to do both DHCPv6 and RDNSS for DNS information. [...]
Sending DNS info is one of the options in SLAAC (just like how it is an option for DHCPv4).
You just configure your router to advertise DNS servers via SLAAC Router Advertisements (RAs) the same way you would via DHCP.
One of the benefits is that any configuration changes propagate almost immediately—you don’t have to wait for DHCP clients to renew their lease to get new DNS servers.
Also, you can (if you want) have the DNS server advertise itself using the same mechanism.
The only common clients that can’t use SLAAC-based DNS configuration are older (unsupported) versions of windows. Even then, setting up DHCPv6 (in unmanaged mode) to send DNS servers is easy.