Even for some ZKP scheme that do require trusted setup, you can perform the setup in a multi-party way that allows anybody to contribute randomness, and as long as even one person is honest, the whole thing is private.
There are zero-knowledge proofs that don’t require a trusted setup phase. A plain old logarithmic equality proof is a very powerful tool, making it possible to ensure correct reencryption shuffle, decryption or encoding. They don’t get the same appeal as generic ZKP systems that get all the hype, which deters practically-minded people from getting familiar with the mechanisms and opportunities. At least, that was my experience when getting into ZKP.
I believe it's possible to do a trusted setup with many hundreds or thousands of anonymous people too, someone would need to get every single contribution to recreate the trusted setup.