-A INPUT -i wan-interface -m conntrack --ctstate RELATED,ESTABLISHED -j ACCEPT
along with this line in the nat table (or the equivalent with the SNAT target if you have a static WAN IP) -A POSTROUTING -o wan-interface -j MASQUERADE
then IPv4 NAT simply wouldn't work... well, not the NAT that nearly all regular folks have on their home networks.It is true that without the firewall's involvement the router would drop all traffic destined to the LAN. [0] But it's the decisions made in the firewall that both make the NAT work, and ensure that WAN traffic that hasn't been requested stays out.
[0] Unless the router were "excitingly" misconfigured!