I don’t know specifically what motivation OpenBSD used, but I know at least one problem that could be a security problem, namely ACLs and especially blacklists.
Think that you have an incoming connection from 10.1.1.1. This address is blacklisted in your ACL and you will refuse this connection. But if you use a mapped address, instead it will look like: ffff: 10.1.1.1. Your blacklist may not be able to catch it and may miss the connection.
This can be solved using the application logic, and since using one socket can simplify the code, I personally think that the OpenBSD solution is unsuccessful. It is possible to disable v4mapped by default, but allow it to be enabled through setsockopt .
They could have had more problems, although I do not know.
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