Earlier quoted context omitted.
The firewall on your typical IPv4 router does basically nothing. It just drops all packets that aren’t a response to an active NAT session. If the firewall somehow didn’t exist (not really possible, because NAT and the firewall are implemented by the same code) incoming packets wouldn’t be dropped, but they wouldn’t make it through to any of the NATed machines. From the prospective any machine behind the router, noth…
NAT gateways that utilize connection tracking are effectively stateful firewalls. Whether a separate set of ‘firewall’ rules does much good because most SNAT implementations by necessity duplicate this functionality is a bit ignorant, IMO. Meanwhile, an IPv6 network behind your average Linux-based home router is 2-3 nftables rules to lock down in a similar fashion.
In theory you could turn off IPv4 NAT as well but in practice most ISPs will only give you a single address. That makes it functionally impossible to misconfigure. I inadvertently plugged the WAN cable directly into my LAN one time and my ISP's DHCP server promptly banned my ONT entirely.