Today I also encounter this issue. From the answer of Maxthux.
[ -f /proc/net/if_inet6 ] && echo 'IPv6 OK' || echo 'No IPv6'
returns ok
lsmod | grep -qw ipv6 && echo "IPv6 kernel driver loaded and configured." || echo "IPv6 not configured and/or driver loaded on the system." returns IPv6 not configured and/or driver loaded on the system.
And sudo modprobe ipv6
has no influence on lsmod | grep ipv6
's empty output.
After about a whole afternoon's searching, I find a way out.
Here is the detail setup for my ipv6.
I use vps of digitalocean, and I've use only ipv4 for about a year. Recently for ios app, I've to setup ipv6 of my vps. I refer to this post, and it's a little too old, so there have some changes.
A: login the degitalocean droplets manage page, click the enable link of ipv6 on the droplet page. Here it may ask you to shutdown you droplet before you enable it. After enabled, on the networking page you can see the below pic. Here I mask the ip information.

B: Temporarily add ipv6 address.
Login to the system with ssh, use this command:
ip -6 addr add new_IPv6_address_in_range/64 dev eth0
and check it with ip -6 addr show eth0
Here you can host -t AAAA google.com
root@xx:~# host -t AAAA google.com
google.com has IPv6 address 2404:6800:4003:c00::71
but ping6 2404:6800:4003:c00::71
will result
Connect: Network is unreachable
C: Add additional ipv6 address
sudo nano /etc/network/interfaces
add below to this file, then change address and gateway according to you droplet page.
iface eth0 inet6 static
address primary_ipv6_address
netmask 64
gateway ipv6_gateway
autoconf 0
dns-nameservers 2001:4860:4860::8844 2001:4860:4860::8888 209.244.0.3
Then reboot you system:
After reboot, check it.
root@xx:~# host -t AAAA google.com
google.com has IPv6 address 2404:6800:4003:c00::66
root@xx:~# ping6 -c4 2404:6800:4003:c00::66
PING 2404:6800:4003:c00::66(2404:6800:4003:c00::66) 56 data bytes
64 bytes from 2404:6800:4003:c00::66: icmp_seq=1 ttl=51 time=2.08 ms
64 bytes from 2404:6800:4003:c00::66: icmp_seq=2 ttl=51 time=2.01 ms
64 bytes from 2404:6800:4003:c00::66: icmp_seq=3 ttl=51 time=1.83 ms
64 bytes from 2404:6800:4003:c00::66: icmp_seq=4 ttl=51 time=1.81 ms
--- 2404:6800:4003:c00::66 ping statistics ---
4 packets transmitted, 4 received, 0% packet loss, time 3005ms
rtt min/avg/max/mdev = 1.815/1.937/2.085/0.118 ms
lsmod | grep -qw ipv6 && echo "IPv6 kernel driver loaded and configured." || echo "IPv6 not configured and/or driver loaded on the system."
IPv6 not configured and/or driver loaded on the system.