The $S$ = $frac{1}{2}$ kagome Heisenberg antiferromagnet (KHA) is a leading model hosting a quantum spin liquid (QSL), but the exact nature of its ground state remains a key issue under debate. In the previously well-studied candidate materials, magnetic defects always dominate the low-energy spectrum and hinder the detection of the intrinsic nature. We demonstrate that the new single crystal of YCu$_3$[OH(D)]$_{6.5}$Br$_{2.5}$ is a perfect KHA without evident magnetic defects ($ll$ 0.8%). Through fitting the magnetic susceptibilities of the orientated single crystals, we find the spin system with weak anisotropic interactions and with first-, second-, and third-neighbor couplings, $J_1$ $sim$ 56 K and $J_2$ $sim$ $J_3$ $sim$ 0.1$J_1$, belongs to the continuous family of fully frustrated KHAs. No conventional freezing is observed down to 0.36 K $sim$ 0.006$J_1$, and the raw specific heat exhibits a nearly quadratic temperature dependence below 1 K $sim$ 0.02$J_1$, well consistent with a gapless (spin gap $leq$ 0.025$J_1$) Dirac QSL.
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