Unless you configure relays using IPs, you still need DNS for initial seeding.

This is an issue with every DNS replacement, the bootstrapping requires classic DNS.

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Nothing wrong with relay IPs.

They can change, causing breakage

Yes but the new IP can be published "out of band". IP addresses (can) change rarely enough for that to be viable.

p2p networks like IPFS get bootstrapped by a couple of bootstrap peers only known by IP address.

Doh, ofc. Catch 22.