1. Authenticity of data; i.e. fixing DNS spoofing.
2. Privacy
3. Censorship
Problem 1 is fixed today by DNSSEC.
The best solution for problem 1, 2 and 3 would be if IPsec had a working and deployed PKI, so IPsec could be used for all IP-based traffic, and nobody had to worry about encryption on any layer above that.
Lacking that, the next best thing for problem 2 would be for DNS to use TLS and/or DTLS, and there is a standard for DNS over TLS (DoT), which makes perfect sense to use today between resolvers and authoritative servers, and between master servers and slave servers. However, this does not solve problem 3, since DoT uses a separate port and can be trivially downgraded by a MITM to use old non-TLS DNS. In theory, this could be fixed by something similar to how DANE solves the same problem for SMTP, in that a separate channel can be used to indicate not to allow protocol downgrades.
But, this problem of censorship is in practice, today, primarily an issue between the client and the resolver. If that traffic can use DNS-over-HTTPS, this would avoid problem 3 as well.
Note that none of this requires any centralization of resolvers, and is technically completely tangential. The problem of centralized resolvers existed since centralized resolvers first appeared; witness the prevalence of using Google’s 8.8.8.8, etc. This is a huge problem independent of DNS-over-HTTPS.
The connection, as far as I can tell, between DoH and centralization is that browsers want to fix as many as possible of problems 1-3, and using a centralized provider of DNS-over-HTTPS does that, at the expense of centralization and a single point of failure for problem 1-3. This is of course a terrible idea. But I can certainly see why browser vendors are attracted to the idea, bad though it may be.