Based on Martin's hint I tried an experiment - I configured em0 statically
instead of using dhcp.  This fixes my problem.

So to summarize: in 6.0 running dhclient on a bridge-member interface
breaks dhcp traffic passing through the bridge.  This worked in 5.9.  Also
the FAQ bridge example uses DHCP on a member interface:
http://www.openbsd.org/faq/faq6.html#Bridge

My working configuration without dhclient:

$ cat /etc/hostname.em0
inet 192.168.0.100 255.255.255.0

$ cat /etc/hostname.em1
up

$ cat /etc/hostname.bridge0
add em0
add em1
up

$ netstat -rn
Routing tables

Internet:
Destination        Gateway            Flags   Refs      Use   Mtu  Prio
Iface
default            192.168.0.1        UGS        4      732     -     8 em0
224/4              127.0.0.1          URS        0     1278 32768     8 lo0
127/8              127.0.0.1          UGRS       0        0 32768     8 lo0
127.0.0.1          127.0.0.1          UHl        2       30 32768     1 lo0
192.168.0/24       192.168.0.100      UC         3     1449     -     4 em0
192.168.0.1        5a:ea:1d:96:c6:a8  UHLc       1      852     -     4 em0
192.168.0.7        14:99:e2:2b:f8:bc  UHLc       0      572     -     4 em0
192.168.0.15       d8:a2:5e:95:8e:e8  UHLc       1      239     -     4 em0
192.168.0.100      00:07:e9:19:e0:02  UHLl       0      247     -     1 em0
192.168.0.255      192.168.0.100      UHb        0       34     -     1 em0

Internet6:
Destination                        Gateway                        Flags
Refs      Use   Mtu  Prio Iface
::/96                              ::1                            UGRS
  0        0 32768     8 lo0
::/104                             ::1                            UGRS
  0        0 32768     8 lo0
::1                                ::1                            UHl
14       14 32768     1 lo0
::127.0.0.0/104                    ::1                            UGRS
  0        0 32768     8 lo0
::224.0.0.0/100                    ::1                            UGRS
  0        0 32768     8 lo0
::255.0.0.0/104                    ::1                            UGRS
  0        0 32768     8 lo0
::ffff:0.0.0.0/96                  ::1                            UGRS
  0        0 32768     8 lo0
2002::/24                          ::1                            UGRS
  0        0 32768     8 lo0
2002:7f00::/24                     ::1                            UGRS
  0        0 32768     8 lo0
2002:e000::/20                     ::1                            UGRS
  0        0 32768     8 lo0
2002:ff00::/24                     ::1                            UGRS
  0        0 32768     8 lo0
fe80::/10                          ::1                            UGRS
  0        0 32768     8 lo0
fec0::/10                          ::1                            UGRS
  0        0 32768     8 lo0
fe80::1%lo0                        fe80::1%lo0                    UHl
 0        0 32768     1 lo0
ff01::/16                          ::1                            UGRS
  0        0 32768     8 lo0
ff01::%lo0/32                      ::1                            Um
  0        1 32768     4 lo0
ff02::/16                          ::1                            UGRS
  0        0 32768     8 lo0
ff02::%lo0/32                      ::1                            Um
  0        1 32768     4 lo0

# cat /etc/pf.conf
#       $OpenBSD: pf.conf,v 1.54 2014/08/23 05:49:42 deraadt Exp $
#
# See pf.conf(5) and /etc/examples/pf.conf
- hide quoted text -

ext_if = "em0"
int_if = "em1"

set skip on lo
set loginterface $ext_if
set block-policy drop
set limit states 50000

pass on $ext_if all
pass on $int_if all

$ dmesg
OpenBSD 6.0 (GENERIC.MP) #1: Sat Sep  3 06:59:42 CDT 2016
    root@server.domain:/usr/src/sys/arch/amd64/compile/GENERIC.MP
RTC BIOS diagnostic error 80<clock_battery>
real mem = 1045643264 (997MB)
avail mem = 1009541120 (962MB)
mpath0 at root
scsibus0 at mpath0: 256 targets
mainbus0 at root
bios0 at mainbus0: SMBIOS rev. 2.4 @ 0xe35a0 (23 entries)
bios0: vendor Intel Corp. version "LF94510J.86A.0278.2010.0414.2000" date
04/14/2010
bios0: Intel Corporation D945GCLF2
acpi0 at bios0: rev 2
acpi0: sleep states S0 S1 S3 S4 S5
acpi0: tables DSDT FACP APIC WDDT MCFG ASF!
acpi0: wakeup devices SLPB(S4) P32_(S4) UAR1(S4) UAR2(S4) PEX0(S4) PEX1(S4)
PEX2(S4) PEX3(S4) PEX4(S4) PEX5(S4) UHC1(S3) UHC2(S3) UHC3(S3) UHC4(S3)
EHCI(S3) AC9M(S4) [...]
acpitimer0 at acpi0: 3579545 Hz, 24 bits
acpimadt0 at acpi0 addr 0xfee00000: PC-AT compat
cpu0 at mainbus0: apid 0 (boot processor)
cpu0: Intel(R) Atom(TM) CPU 330 @ 1.60GHz, 1596.27 MHz
cpu0:
FPU,VME,DE,PSE,TSC,MSR,PAE,MCE,CX8,APIC,SEP,MTRR,PGE,MCA,CMOV,PAT,CFLUSH,DS,ACPI,MMX,FXSR,SSE,SSE2,SS,HTT,TM,PBE,SSE3,DTES64,MWAIT,DS-CPL,TM2,SSSE3,CX16,xTPR,PDCM,MOVBE,NXE,LONG,LAHF,PERF,SENSOR
cpu0: 512KB 64b/line 16-way L2 cache
cpu0: smt 0, core 0, package 0
mtrr: Pentium Pro MTRR support, 7 var ranges, 88 fixed ranges
cpu0: apic clock running at 133MHz
cpu0: mwait min=64, max=64, C-substates=0.1, IBE
cpu1 at mainbus0: apid 1 (application processor)
cpu1: Intel(R) Atom(TM) CPU 330 @ 1.60GHz, 1596.01 MHz
cpu1:
FPU,VME,DE,PSE,TSC,MSR,PAE,MCE,CX8,APIC,SEP,MTRR,PGE,MCA,CMOV,PAT,CFLUSH,DS,ACPI,MMX,FXSR,SSE,SSE2,SS,HTT,TM,PBE,SSE3,DTES64,MWAIT,DS-CPL,TM2,SSSE3,CX16,xTPR,PDCM,MOVBE,NXE,LONG,LAHF,PERF,SENSOR
cpu1: 512KB 64b/line 16-way L2 cache
cpu1: smt 0, core 1, package 0
ioapic0 at mainbus0: apid 2 pa 0xfec00000, version 20, 24 pins
acpimcfg0 at acpi0 addr 0xf0000000, bus 0-127
acpiprt0 at acpi0: bus 0 (PCI0)
acpiprt1 at acpi0: bus 4 (P32_)
acpiprt2 at acpi0: bus 1 (PEX0)
acpiprt3 at acpi0: bus -1 (PEX1)
acpiprt4 at acpi0: bus 2 (PEX2)
acpiprt5 at acpi0: bus 3 (PEX3)
acpiprt6 at acpi0: bus -1 (PEX4)
acpiprt7 at acpi0: bus -1 (PEX5)
acpicpu0 at acpi0: C1(@1 halt!)
acpicpu1 at acpi0: C1(@1 halt!)
acpibtn0 at acpi0: SLPB
"PNP0003" at acpi0 not configured
pci0 at mainbus0 bus 0
pchb0 at pci0 dev 0 function 0 "Intel 82945G Host" rev 0x02
inteldrm0 at pci0 dev 2 function 0 "Intel 82945G Video" rev 0x02
drm0 at inteldrm0
intagp0 at inteldrm0
agp0 at intagp0: aperture at 0x40000000, size 0x10000000
inteldrm0: apic 2 int 16
inteldrm0: 1920x1080
wsdisplay0 at inteldrm0 mux 1: console (std, vt100 emulation)
wsdisplay0: screen 1-5 added (std, vt100 emulation)
ppb0 at pci0 dev 28 function 0 "Intel 82801GB PCIE" rev 0x01: msi
pci1 at ppb0 bus 1
1:0:0: mem address conflict 0xfffe0000/0x20000
re0 at pci1 dev 0 function 0 "Realtek 8168" rev 0x02: RTL8168C/8111C
(0x3c00), msi, address 00:1c:c0:f0:cf:9c
rgephy0 at re0 phy 7: RTL8169S/8110S/8211 PHY, rev. 2
ppb1 at pci0 dev 28 function 2 "Intel 82801GB PCIE" rev 0x01: msi
pci2 at ppb1 bus 2
ppb2 at pci0 dev 28 function 3 "Intel 82801GB PCIE" rev 0x01: msi
pci3 at ppb2 bus 3
uhci0 at pci0 dev 29 function 0 "Intel 82801GB USB" rev 0x01: apic 2 int 23
uhci1 at pci0 dev 29 function 1 "Intel 82801GB USB" rev 0x01: apic 2 int 19
uhci2 at pci0 dev 29 function 2 "Intel 82801GB USB" rev 0x01: apic 2 int 18
uhci3 at pci0 dev 29 function 3 "Intel 82801GB USB" rev 0x01: apic 2 int 16
ehci0 at pci0 dev 29 function 7 "Intel 82801GB USB" rev 0x01: apic 2 int 23
usb0 at ehci0: USB revision 2.0
uhub0 at usb0 "Intel EHCI root hub" rev 2.00/1.00 addr 1
ppb3 at pci0 dev 30 function 0 "Intel 82801BA Hub-to-PCI" rev 0xe1
pci4 at ppb3 bus 4
em0 at pci4 dev 0 function 0 "Intel 82546EB" rev 0x01: apic 2 int 21,
address 00:07:e9:19:e0:02
em1 at pci4 dev 0 function 1 "Intel 82546EB" rev 0x01: apic 2 int 22,
address 00:07:e9:19:e0:03
pcib0 at pci0 dev 31 function 0 "Intel 82801GB LPC" rev 0x01
pciide0 at pci0 dev 31 function 1 "Intel 82801GB IDE" rev 0x01: DMA,
channel 0 configured to compatibility, channel 1 configured to compatibility
pciide0: channel 0 disabled (no drives)
pciide0: channel 1 ignored (disabled)
pciide1 at pci0 dev 31 function 2 "Intel 82801GB SATA" rev 0x01: DMA,
channel 0 configured to native-PCI, channel 1 configured to native-PCI
pciide1: using apic 2 int 19 for native-PCI interrupt
wd0 at pciide1 channel 0 drive 0: <SAMSUNG SP2504C>
wd0: 16-sector PIO, LBA48, 238475MB, 488397168 sectors
wd0(pciide1:0:0): using PIO mode 4, Ultra-DMA mode 6
ichiic0 at pci0 dev 31 function 3 "Intel 82801GB SMBus" rev 0x01: apic 2
int 19
iic0 at ichiic0
admtm0 at iic0 addr 0x2d: 47m192
spdmem0 at iic0 addr 0x50: 1GB DDR2 SDRAM non-parity PC2-4200CL5
usb1 at uhci0: USB revision 1.0
uhub1 at usb1 "Intel UHCI root hub" rev 1.00/1.00 addr 1
usb2 at uhci1: USB revision 1.0
uhub2 at usb2 "Intel UHCI root hub" rev 1.00/1.00 addr 1
usb3 at uhci2: USB revision 1.0
uhub3 at usb3 "Intel UHCI root hub" rev 1.00/1.00 addr 1
usb4 at uhci3: USB revision 1.0
uhub4 at usb4 "Intel UHCI root hub" rev 1.00/1.00 addr 1
isa0 at pcib0
isadma0 at isa0
pckbc0 at isa0 port 0x60/5 irq 1 irq 12
pckbd0 at pckbc0 (kbd slot)
wskbd0 at pckbd0: console keyboard, using wsdisplay0
pcppi0 at isa0 port 0x61
spkr0 at pcppi0
vscsi0 at root
scsibus1 at vscsi0: 256 targets
softraid0 at root
scsibus2 at softraid0: 256 targets
root on wd0a (c24ccd52000f4972.a) swap on wd0b dump on wd0b

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