There are two ways described here to publish IPv6 ports from root started podman containers.
--network slirp4netns:port_handler=rootlesskit e.g.sudo podman run --network slirp4netns:port_handler=rootlesskit -p 8080:80 docker.io/nginx
sudo podman network create --ipv6 --subnet fd01::/96 ipv6 sudo podman run -d --network ipv6 -p 8080:80 docker.io/nginx