You don't really need tor or any other VPN for that matter, https://getintra.org/ a DoH client for Android works just fine [0]
[0] https://twitter.com/vinifortuna/status/1304189371688660992
[0] https://twitter.com/vinifortuna/status/1304189371688660992
ESNI, of the new trick of using ESNI plus a fake plaintext SNI, is definitely a more robust approach.
Source: Work extensively on an Intra fork.
Intra merely captures DNS traffic on port 53 and tunnels it to any DoH endpoint. It circumvents SNI censorship because it essentially sees all TCP and UDP traffic and can manipulate it on-device, and it does so in a way that bypasses most (but not all) censorship implementations.