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It would be interesting to know why you would choose this over something like the Contiki uIP or lwIP that everything seems to use.
It only implements IPv4 which explains to a degree that why IPv6 isn't ubiquitous: it's costly to implement.
Matter (a smart home connectivity standard in use by many embedded devices) is using IPv6. Doesnt seem to be a problem there.
Are there TCP/IP stacks out there in common use that are allocating memory all the time?
Yes, TCP is pretty hungry for buffers. The bandwidth*delay product can eat gigs of memory on a server. You have to be ready to retransmit anything that's in flight / haven't received the ack for yet.
Yes, it is pretty common.

However sometimes the buffers are pooled so buffer allocator contention only occurs within the network stack or within a particular nic.

How does it deal with all the dynamic TCP buffering things where things may get quite large?