I would like to believe that, but there are some usecases where they are useful. An example would be advertisement over audio. I can't plug a product identified by 52 characters. And these situations will happen all the time, there won't always be a way to share a url or qr.

Another reason to use ICANN is for organisations. You can't sell your company's public key, but the domain is an automatic property of the new owner. I think even if we only use keys, we will reinvent registrars for these use cases.