I finally got IPv6 working at home over the weekend. I ended up doing it with custom router hardware from PC Engines (in my case the very capable APU with 4GB memory [$131+$10 enclosure], a 16GB mSATA SSHD [$24.99], and three gigabit Ethernet ports) running pfSense.
So the question is how to configure the RV042 to do this when the modem is in transparent bridging mode. So far, no joy. 5+ hours on the phone with a pleasant Mr. Perez from Cisco support, along with joint conference calls with CenturyLink tech support have not yielded any fruit.
I have signed up for tunnels at SIXXS and Hurricane Electric. I have purchased a VDSL2 modem that does not appear to have routing functionality (not yet arrived as of 10/10/12).
I will continue to update this post as tickets are still open with Cisco and CenturyLink.