<blockquote>
<p>I tried adding <code>USEMODULE += dhcpv6_client auto_init_dhcpv6_client esp_wifi</code> to the Makefile in <code>examples/gnrc_networking</code>, but I would not get an IP address or prefix.</p>
</blockquote>
<p>This is only about prefix delegation, not address configuration. So you can fetch a prefix from a DHCPv6 server (if configured, which most of the time isn't the case in "normal" DHCP config).</p>

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