This usually means that either SNMP isn't enabled, or (more likely) that something between the Cisco device and the PRTG server is blocking SNMP.
Does SNMP work with IPv4? So you can narrow down the problem to IPv6? Or do you get the same error with IPv4 too?
You could try using Paessler's free SNMP tester (https://www.paessler.com/tools/snmptester), which uses the exact same code as inside PRTG, but without all the rest of PRTG around it. You can experiment with different versions of SNMP, different community strings and different OIDs until you get a response.
And, one last question: is this a meraki device, by any chance?