The only place the IPv6 transition seems to be failing is in "command-and-control" corporate networks. (A majority of home/consumer/cellular users are quietly using IPv6 by default every day, per most statistics.) The lessons to be learned there don't seem to be technical but economic incentives.
Big companies believe that they have plenty of IPv4 space, especially because they've always been lax in how they read IPv4 RFCs and use IPv4 routing behind corporate firewalls. Big companies also have the most cash to buy IPv4 blocks as they go to auction. Big companies have massive firewalls and strict VPNs which also insulate them from IPv4 scarcity.
IPv4 leases don't impact enough companies' bottom lines today that they need to assess IPv6 support.
Solving those economic incentive problems would likely be a massive sociopolitical problem: you would need IANA and the RIRs to agree to inflate costs in various ways (and in the short term that might have done a lot of harm to small countries already facing IPv4 inequity and their RIRs that lost the very earliest IPv4 assignment lotteries). You'd probably need new RFCs and political enforcement to support things like "taxing" company to company IPv4 block assignments. You'd probably need collusion or regulation from the big "Cloud Providers" to enforce higher costs on IPv4-only networking.
It would take those kind of "strong handed" tactics to speed up IPv6 adoption in corporate networks. Waiting for the "invisible hand" of the "free market" can be very slow and takes patience. That's mostly what we've been seeing with IPv6 adoption: the "invisible hand" is a lot slower than some people predicted. Especially engineers that hoped technical superiority alone would be a market winner.