I believe that this happens because the config
(/proc/sys/net/ipv6/conf/all/accept_ra_defrtr) says to accept a default
route, and you have one specified in /etc/network/interfaces, and
therefore the advertised default route fails to get added to the routing
table.

It would be a good thing if the logged error (1) said what it was trying
to add as the default route, and (2) was rate limited, and (3) pointed
at accept_ra_defrtr

Having ifup turn off accept_ra_defrtr when it adds a default route might
be a good thing, too.

Just my thoughts.

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https://bugs.launchpad.net/bugs/1065974

Title:
  dmesg full of "ICMPv6 RA: ndisc_router_discovery() failed to add
  default route"

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