Here is some info
https://dnscrypt.info/faq (DNSCrypt, DoH, DoT and so on) But keep in mind the info comes from DNSCrypt hompage so maybe it promotes DoH and DNSCrypt more since thats what is supported.
And some talk about what is a standard (IETF) and DoH,DoT provides more information than regular DNS to resolver operators in order to fingerprint clients..
It comes down to what servers you want to use.
DoT included in Asuswrt-Merlin is a good option, SSH client and editing files should not be needed(more set and forget)
I use DNSCrypt-proxy, Gives good info in syslog and has many
servers also have a lot of options built in for users
wiki &
features
For the new DoH Server/Firefox ESNI & Anonymized DNS (using Relays) the installer need to be updated/forked if we should able to set these options from DNSCrypt menu..
So until then it needs to be manually set in dnscrypt-proxy.toml at least once
and relay randomization and failover will be implemented in future versions of DNSCrypt-proxy.