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Nowadays, many disruptive Internet-of-Things (IoT) applications emerge, such as augmented/virtual reality online games, autonomous driving, and smart everything, which are massive in number, data intensive, computation intensive, and delay sensitive. Due to the mismatch between the fifth generation (5G) and the requirements of such massive IoT-enabled applications, there is a need for technological advancements and evolutions for wireless communications and networking toward the sixth-generation (6G) networks. 6G is expected to deliver extended 5G capabilities at a very high level, such as Tbps data rate, sub-ms latency, cm-level localization, and so on, which will play a significant role in supporting massive IoT devices to operate seamlessly with highly diverse service requirements. Motivated by the aforementioned facts, in this article, we present a comprehensive survey on 6G-enabled massive IoT …