1. Isn't this better implemented at the OS level?
2. Isn't centralisation to two DoH providers more centralised than five large ISPs?
Others are probably better suited to answer, but the answers I can think of:
1. Yes, but it is not, so this solution is second-best. If Operating Systems decide to tackle this problem at some point in the future, Firefox can always be changed again to use that.
2. Given that Firefox doesn't own the full market, the net result is indeed less centralisation: five ISPs that handle traffic by other browsers, and two DoH providers that handle Firefox's. That said, the main factor here is that the track record of ISPs in the US is abysmal, whereas the current (and hopefully potential future other ones) DoH providers have committed to far stronger privacy protections.