Moin,
>     # perform nat64 (NOT WORKING)
>     pass in to 64:ff9b::/96 af-to inet from ($wan:0)

Can you try if the same happens with a more specific rule (for
testing)?

i.e.:

pass in on igc3 inet6 from "put actual v6 prefix here" to 64:ff9b::/96
af-to inet from "actual IP on igc0"/32

I am suspecting that the missing inet6 may lead to some confusion.
Alternatively, remove the block rules; URPF may be an issue here, if
you lack a route for the /96.

A minimal (== based on the default pf.conf) config working  for me:

```
#       $OpenBSD: pf.conf,v 1.55 2017/12/03 20:40:04 sthen Exp $
#
# See pf.conf(5) and /etc/examples/pf.conf

set skip on lo

block return    # block stateless traffic
pass            # establish keep-state

# By default, do not permit remote connections to X11
block return in on ! lo0 proto tcp to port 6000:6010

# Port build user does not need network
block return out log proto {tcp udp} user _pbuild

pass in on vio0 inet6 from 2a06:d1c0:deac:1:d5:64:a115:1 to
2a06:d1c7:a:4764::/96 af-to inet from 193.104.168.184/29 random
```

With best regards,
Tobias

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