That is not how it works. You can have a home network on ipv6. And it can reach all of ipv4 via nat ( just like ipv4 do today). A net with only ipv4 can not reach any ipv6 without a proxy that terminst the v4 connection and make a new v6 connection. since ipv6 is backwards compatible. But ipv4 is naturally not forwards compatible.
Also it is the default deny of the stateful firewall that always coexist with NAT, since NAT depends on that state, that is the security in a NAT router.
That default deny is not in any way dependant on the NAT part.