Earlier quoted context omitted.
I don't understand what you mean by complicating firewall rules,except maybe that you now need to use IPv6 addresses instead of IPv4 addresses in some of the rules. It's not like NAT without a firewall gave any security in 2024.
there is no nat w/o a "firewall" and yes, it will be more secure
So, if I send traffic from 192.168.0.78:19990 to 1.1.1.1:443, the NAT may allocate TCP/29099 for this connection and forward traffic from its public IP, 3.56.54.90.
Then, if an attacker sends a SYN packet to 3.56.78.90:29099, the router will forward that packet to 192.168.0.78:19990. The machine may or may not accept that connection, but the attacker has reached it.
Now, many NAT implementions also do firewall-style tracking, and would not accept this packet unless it came from 1.1.1.1:443. But that is not required for NAT to work, and it requires extra memory per connection (storing the destination IP/port as well as the local IP/port), so I'd bet real devices exist that do this.