Sure, one or two of us running our own resolvers isn't going to hurt, but an extra hundred million or so resolvers would hurt -> at best just causes all the servers targeted by the resolver to add more layers of caching
I doubt the current infra would have any problem handle the load even if all individual devices had a local resolver.
They're easy to set up and unless you're using it to support thousands of DNS requests per second, it's not appreciably (on human scales) slower than forwarding requests to your ISP's servers and/or 8.8.8.8 or 1.1.1.1.
More detail about recursive resolvers and how they work can be found here[1]