Earlier quoted context omitted.
> malware can use DoH to retrieve data without logging suspicious DNS queries on Firewall DNS logs Malware can already query IPs of its choice to learn about other IPs it should contact. DoH doesn't let it do anything new.
In a corporate network, it's pretty common to block all outgoing DNS traffic (53/TCP and 53/UDP), except from the company's DNS servers. In that case, DoH does let malware do something new -- block the company's existing DNS policies, quert logging, and security monitoring!
Malware does not need DoH to do this. They can simply run an ordinary HTTPS server with a self-signed cert on an arbitrary IP, with a simple JSON-based or whatever protocol, and have support for that in their client.