On the other hand, if you actually control your devices DoH shouldn't be a problem, you can have them talk to whichever servers you prefer regardless of the protocol.
As to the lightweight thing. We get a few benefits from running DNS on top of HTTPS rather than say TLS (which also exists, as DoT)
1. HTTPS allows us to put parameters in the URL which are thus confidential (HTTPS will encrypt them) and have those control the DNS lookup. So dns-server.example can offer all its users their own URL, even though they all talk to the exact same server (dns-server.example.com) and a snoop can't tell that one device used the rank0 account while another device used the tialaramex account, those are encrypted in the URL, yet the actual server can see which is used and maybe my devices get "pure" answers while yours have ad-blocking or whatever.
2. DNS doesn't have a rich error vocabulary. For your ad-blocked domains, a traditional DNS server has to either lie (bogus answer) or claim no answer exists (NXDOMAIN or OK 0 answers) but HTTP has a rich variety of error codes. Maybe 403 Forbidden is appropriate for the Xian parent who doesn't want their teenager looking at pornhub.com and 451 Unavailable For Legal Reasons is appropriate for a DNS service which excludes Pirate Bay due to lawsuits.