Iroh is over QUIC, which has great features but it is UDP, meaning you can't use Tor. So it doesn't provide both privacy and p2p. Also web-based clients probably can't do QUIC and even if they can, they are not going to accept the TLS "raw public key".
No single transport can make everybody happy:
websockets: the only transport that works in browsers. Also works with Tor. But you rely on DNS and CAs and it is the lowest performance choice.
tcp: wouldn't have to rely on DNS and CAs, Tor is supported, and performance is in the middle. But cannot support browser based clients.
quic: wouldn't have to rely on DNS and CAs, and it has the best performance by a long shot. But you can't use Tor or browser-based clients.