Earlier quoted context omitted.
There is still a process cost to participate in any escrow process, both on an initial and on-going basis. (That's before the blindingly obvious observation that even something provided by the government at no cost at point of use has a cost which is ultimately borne by the people.)
I don't disagree with either statement, but I think both of those are a price worth paying to avoid having hardware become e-waste because software support was stopped.
I think we'd also need to figure out some durable and stable way to reach a conclusion on "when should the software be published out of escrow?" that handles a bunch of the various edge cases. "What happens to devices that are one-time programmable? What devices are in-scope/out-of-scope? Does this apply to radio firmware as well as general CPU firmware? Is the software license changed alongside the release of code from escrow? Are signing keys also released? Is code released from escrow just because some individual use case is no longer supported by the mainline firmware? [Is a disagreement with a product decision enough to release the old code?]"