I am advocating for aDoT, which is not DoT. The "a" letter in the beginning is an important distinction and stands for (a)uthoritative and aDoT is an early rfc draft about communication between a resolver and an authoritative server.
To explain the terminology I use I can source the definitions from RFC 1034. We have "stub", "recursive", and "authoritative" resolvers. A stub resolver sits at clients because in 1987 not every computer had enough computer resources to run a recursive resolver themselves, and stub resolver talks exclusively to recursive resolvers. Recursive resolvers iterative talks to authoritative servers in order to resolve a domain name into a resource record (ip addresses, text, alias and so on), and the recursive resolver return the results to the stub resolver or the computer that host it.
As the RFC specify, there was original two reasons why a machine may want to have a stub resolver and use someone else recursive resolver. One is the above reason that stub resolvers can be used on machines that do not have the computer resources to run a resolver. The second is in order to "centralize the cache for a whole local network or
organization.". The preferred way as specified by the RFC is to do the recursive resolving on all machines, but if you want a centralized cache or have machines that do not have enough in terms of 1987 computer resources then there is a option to use a stub resolver.
DoH and DoT is technology to encrypt the traffic between the stub resolver and the recursive resolver. Neither can be used if one follow the recommendation and operate the recursive resolver yourself. DNS between recursive resolving and the authoritative server is in plain text. aDoT fixes this, allowing for encrypted traffic between the recursive resolving and authoritative server. When a client who runs its own recursive resolver can create a encrypted channel between it and the authoritative server, what we have is end-to-end encryption.
If there is a technical concept here you don't under just let me know and I can try to explain it further.