An update on this.
Looking at flags after a hint from phrased - they're not setting the
on-link flag (intentionally, to prevent flooding multicast NDs over the
wlan, which makes sense) so it's hitting the XXX case in nd6_rtr.c which
replaces lifetimes with 0.
Non-OpenBSD devices are working ok with this; link local to reach the
router, the address is configured on the interface, but no prefix router,
it just sends all traffic to the default router.