However, this really gets amortized in most workloads if the leader changes only rarely. Additionally, in an environment with a good network connection between nodes (a few ms), you can set the timeout to be much less than a few seconds (could be less than a second actually), this way you have shorter unavailability.
There's another point he touches, about the unavailability of the whole cluster when the leader is down. Really, this isn't something dependent on the protocols, but on the applications. If you have one paxos/raft group per replica, you actually only get a small unavailability. Additionally, even consistent reads do not need a living master to be possible.
It's worth reading the spanner paper to get more insight into high availability/consistency achieved with a paxos based db implementation ( https://static.googleusercontent.com/media/research.google.c... ).
EDIT: And in my opionion, calling it a SPOF is missing the point a little bit.