They are, but in practice they are muddled together and I suspect people are going to create subnets with IPv6 in the name of security. In IPv4 NAT is used to make sure your laptop isn't exposed to random script kiddies trying to scan for vulnerable services behind your router. A fun exercise is to plug a RaspberryPi up directly to a public facing IP address and log every packet it receives. Then give those scripts a few services to detect (HTTP server, SSH server, etc.) and look at how the traffic shifts from scanning for ports to scanning for vulnerabilities. Being connected directly to the public internet is a real eye opening experience.

I do believe future IPv6 networks will have gateway machines and/or bastions that are connected to the public internet with public IPv6 addresses. And then they'll have an interior network that they use NAT for. Individual machines will not be routable or discoverable without going through a bastion/gateway that explicitly controls the flow of traffic into a network. Not because this is the ideal way to structure an IPv6 network, but because this pattern is going to carry over from the IPv4 world and there is a lot of momentum in tribal knowledge using NAT as a form of firewall.