The Internet has been handed over to de facto monopolies operating under a thin pretext of competitive legitimacy.
We'll probably see antitrust action to split them up in twenty years or so, by which time it will be too late to make a difference.
The only thing that can change this is physical server decentralisation, which is going to rely on massive bandwidth improvements and nation-state grade security protocols.
When I can run a personal server on a personal device and serve content to thousands - some of whom may want to peer it, if it's interesting enough - then we may see a genuinely free Internet.
As it is, instead of "seeing censorship as damage and routing around it", the Internet has been seen as political damage itself, and the political system has effectively neutered it by reducing it to yet another financialised cultural channel.