You've already found the actual problem: hosts pick their default gateway from RAs, so the moment the 2930F advertises with a nonzero router lifetime it wins, and it has no route to the internet. Killing the RA lifetime hands the gateway back to the firewall but takes your inter-VLAN routing with it. Those two knobs will always fight each other.
The way out is to let the switch win. Keep the 2930F as the default router on every VLAN, then give the switch itself a static default route pointing at the firewall's link-local address on a transit VLAN. Link-locals never change no matter how often your ISP rotates the delegated prefix, which kills the objection about dynamic GUAs. Traffic to ULAs routes in the switch, everything else hops to the firewall.
The elegant fix would be RFC 4191 route information options in the RAs, the IPv6 cousin of your option 121 trick, but I can't find any sign AOS-S exposes that in its RA config, so the static route path is the one I'd build.
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Dustin Burns
@Worldcom Exchange, Inc.
If my post was useful accept solution and/or give kudos
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