When configuring IPv6 on an interface, which two IPv6 multicast groups are joined?

[Reference:, https://www.cisco.com/c/en/us/td/docs/ios-xml/ios/ipv6/configuration/xe-3s/ipv6-xe-36s-book/ip6-multicast.html, , When an interface is configured with IPv6 address, it automatically joins the all nodes (FF02::1) and solicited-node (FF02::1:FFxx:xxxx) multicast groups. The all-node group is used to communicate with all interfaces on the local link, and the solicited-nodes multicast group is required for link-layer address resolution. Routers also join a third multicast group, the all-routers group (FF02::2)., , , , , ]