This is a gross over-simplification. Cloudflare is required by contract to respect your privacy, which is much stronger than even the privacy laws have here in the EU since it addresses everyone, not just the EU population:

https://developers.cloudflare.com/1.1.1.1/commitment-to-priv...

The people fighting for the status quo probably know how to run their own resolver, even with DoH or DTLS. But Mozilla's conundrum is how to protect everyone 's privacy (and to a certain extent, security). DoH, despite all its flaws, attempts to do that by piggy-backing on already working infrastructure, so it seems like a good fit to move everyone to DoH. But then, they're the chicken-and-egg problem. How do you make sure people deploy local DoH resolvers if no browser enforces the move to DoH ? How do you make sure those resolvers are truthful, or even respect local law (having both is often impossible).

So, you need to compromise. I'd have preferred to have temporary non-profit third party entity handle this à-la-Letsencrypt, but Mozilla deemed its contract with Cloudflare sufficient to provide enough guaranties. Ideally, name resolution should be done closer to the user instead of being centralized like that. But by arguing instead of experimenting we just keep the status quo. Time will tell if this was a bad decision. But it's not as clear cut as this blog post says it is.