The last two lines from the above show up in my dmesg as well, but it seems ipv6 kernel module is not loaded when I arrive at desktop unless I run modprobe ipv6.
P.S. Now that my ipv6 issue has been solved, I discovered that udhcpc is just as capable a DHCP client as dhclient: Both can grab IPv4 and IPv6 addresses at the same time without being explicitly asked. Given that udhcpc does not require an extension (it is part of the base system), is zero-conf (compared to dhclient, which was a major pain to configure) and has a trivial syntax (e.g., udhcpc -i wlan0), it seems like an obvious winner.