I was looking through the old changes and from what I could tell from the comments, the reason pfsense moved from rtadvd to radvd, was they were having problems with CARP and VIPs in ipv6 at the time with rtadvd. Maybe rtadvd has solved the issues from back then.It is possible that from FreeBSD 11 to 12, something else in the network stack introduced a dependency on rtadvd.