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For IPv6, hosts use Neighbor Discovery instead of ARP for IPv4. Accordingly, one can use the ndisc6 tool to look for the MAC address in question.

root@wyvern:~# ndisc6 -1 fdb0:9cab:a32:1::1:0 enp2s0
Soliciting fdb0:9cab:a32:1::1:0 (fdb0:9cab:a32:1::1:0) on enp2s0...
Target link-layer address: 22:0A:CA:A1:5B:19
 from fe80::182a:1647:38d:31a