The key problem here this:
Unable to parse URI qemu+ssh://nova_migration@fd00:fd00:fd00:2000::1e/system?keyfile=/etc/nova/migration/identity
That is not a valid URI, because IPv6 addresses need to be wrapped in [] when used in a URI, to avoid ambiguity wrt port number.
The problem is nova/virt/libvirt/driver.py file _live_migration_uri method, which simply does a direct string substitution of the target machine. This needs to be enhanced to check whether the target machine is a raw IPv6 address and wrap it in []. The code in question looks like it has always been broken in respect of raw IPv6 addresses so bug probably needs cloning to multiple nova versions.