I start it through pkg_scripts in rc.conf.local. This might be why I haven't seen the issue.
To be clear, the bug may still affect people in different circumstances. I didn't spend any time figuring out other ways the bug affects setups. For example I wouldn't be surprised if when an ISP is fixing an issue causing the Internet to be dropped, the timeout bug affects dhcpcd from correctly reconfiguring the interface(s) once the connection is restored. Hopefully ISPs are not doing that often, but I can see a timeout on dhcpcd causing it to never assign the GUA which for ISPs like ours will also prevent prefix delegation. Just something to keep an eye on.