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You can do that with iOS, when you scan a QR it pops a notification showing the domain and asks if you’d like to open it.

The same is true for android, at least on a Pixel 2 XL

Depends on the scanner/camera app, but yes, similar situation for Xiaomi's MIUI builtin camera.

A QR code contains text. If your QR code reader automatically opens any link it finds in that text, it is defective. You should replace it.

As a link can be changed just before it activates, hovering over a link to check if it’s malicious is not very useful.