It would be good to use either DHCP or DHCPv6 (but not both) consistently throughout the doc.
5.3.1 Managed Address Configuration
The first two paragraphs are sort of redundant relative to the second paragraph in section 4.5.5. I suggest that the union of the information in the two sources be put into section 4.5.5, and the first two paragraphs of 5.3.1 be deleted.
I suggest the following text for 5.3.1:
Those IPv6 Nodes that use DHCP for address assignment initiate DHCP to obtain IPv6 addresses and other configuration information upon receipt of a Router Advertisement with the 'M' flag set, as described in section 5.5.3 of RFC 2462. In addition, in the absence of a router, those IPv6 Nodes that use DHCP for address assignment MUST initiate DHCP to obtain IPv6 addresses and other configuration information, as described in section 5.5.2 of RFC 2462. Those IPv6 nodes that do not use DHCP for address assignment can ignore the 'M' flag in Router Advertisements.
5.3.2 Other configuration information
I suggest changing the title of this section because the development of DHCP has moved toward using a DHCP in a way that is typically known as "stateless". I recognize the potential confusion with RFC 2462, in which "stateful" is pretty deeply embedded.
I think the first paragraph of 5.3.2 is redundant and should be merged in with the text in 4.5.5.
I suggest the following text for 5.3.2
Those IPv6 Nodes that use DHCP to obtain other configuration information initiate DHCP for other configuration information upon receipt of a Router Advertisement with the 'O' flag set, as described in section 5.5.3 of RFC 2462. Those IPv6 nodes that do not use DHCP for other configuration information can ignore the 'O' flag in Router Advertisements.
An IPv6 Node can use the subset of DHCP described in [DHCPv6-SL] to obtain other configuration information.
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