Going through this thread, here is some proposed text. I've concluded
that whether to require DHC and/or relay agents is much more nuances
than a simple SHOULD/MAY/MUST.

How about the following proposed wording:

   12.3.  Stateful Address Autoconfiguration (DHCPv6) - RFC 3315

   A single DHCP server ([RFC3315] or[RFC4862]) can provide
   configuration information to devices directly attached to a shared
   link, as well as to devices located elsewhere within a site.
   Communication between a client and a DHCP server located on different
   links requires the use of DHCP relay agents on routers.

   In simple deployments, consisting of a single router and either a
   single LAN, or multiple LANs attached to the single router, together
   with a WAN connection, a DHCP server embedded within the router has
   been a common deployment scenario (e.g., [RFC6204]).  However, there
   is no need for relay agents in such scenarios.

   In more complex deployment scenarios, such as within enterprise or
   service provider networks, the use of DHCP requires some level of
   configuration, in order to configure relay agents, DHCP servers, etc.
   In such environments, the DHCP server might even be run on a
   traditional server, rather than as part of a router.

   Because of the wide range of deployment scenarios, support for DHCP
   server on routers is optional.  However, routers targetted for
   deployment within more complex scenarios (as described above) SHOULD
   support relay agent functionality.  Note that "Basic Requirements for
   IPv6 Customer Edge Routers" [RFC6204] requires implementation of a
   DHCPv6 function in IPv6 CE routers.


Thomas
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