You could be using IPv6 ULA addresses internally on your home network to have static addressing. The real solution is moving to DNS names though with your router maintaining them based on DHCP leases or just using multicast DNS (Zeroconf).
In the future you can probably go "IPv6-mostly" with a CLAT engine to ditch dual-stack: https://blog.apnic.net/2022/11/21/deploying-ipv6-mostly-acce...