The firewall on your typical IPv4 router does basically nothing. It just drops all packets that aren’t a response to an active NAT session.
If the firewall somehow didn’t exist (not really possible, because NAT and the firewall are implemented by the same code) incoming packets wouldn’t be dropped, but they wouldn’t make it through to any of the NATed machines. From the prospective any machine behind the router, nothing changes, they get the same level of protection they always got.
So for those machines, the NAT is inherently acting as a firewall.
The only difference is the incoming packets would reach the router itself (which really shouldn’t have any ports open on the external IP) reach a closed port, and the kernel responds with a NAK. Sure, dropping is slightly more secure, but bouncing off a closed port really isn’t that problematic.
If the firewall somehow didn’t exist (not really possible, because NAT and the firewall are implemented by the same code) incoming packets wouldn’t be dropped, but they wouldn’t make it through to any of the NATed machines. From the prospective any machine behind the router, nothing changes, they get the same level of protection they always got.
So for those machines, the NAT is inherently acting as a firewall.
The only difference is the incoming packets would reach the router itself (which really shouldn’t have any ports open on the external IP) reach a closed port, and the kernel responds with a NAK. Sure, dropping is slightly more secure, but bouncing off a closed port really isn’t that problematic.