Why not use something like SSH authentication keys to verify the endpoint? (e.g. ed25519 which can be generated very fast)
Consider the vast number of endpoints that are now currently being verified using authentication keys.
For something like encryption, I believe some human intervention will always be required. Only a human can answer the question: "Do you trust this?"
The issue is which humans are intervening: (a) the humans at each endpoint, or (b) the humans at each endpoint plus third parties.
Letting the www commercial CA vendors and commercial ad-supported www browser authors answer the question "Do you trust this?" on behalf of users is still human intervention. Unfortunately for users, this is delegating the intervention to humans that have no "skin in the game". The third parties are not the ones with the need to encrypt. They stand nothing to lose if the encryption is defeated.
Common sense suggests this is the wrong approach. (And that's ignoring the ever-increasing number of exposed flaws and "incidents" regarding www commercial CAs, like the one being discussed in this thread.)