DNS has been seriously messed up long-time (I used to advise on ccTLD creation as a lawyer many years ago). Most of the problems are fully understood. None of the solutions ever get implimented because govt's want the 'net to remain censurable.
Discussion
I think most of the reason is that the overhead of replacing these DNS-related components is greater than the overhead of replacing the DNS itself. If there is a DNS replacement, it has to be able to coexist with DNS for a long time and be ready to replace it for at least half a century. IPv6 is in this slow and painful process today.