But what happens if the key is compromised during this single use? Isn't that just as problematic from a security perspective?
I'm guessing by "untrusted system" that we're talking about an SSH host for which you do not already have and verify the SSH host fingerprint (see side note below). And so, for example, you try to connect to that host, but instead your request is MITMed and the attacker has control of your session with that remote host.
Or put another way: what attack vectors are prevented/mitigated by disabling the key on use? (and this is separate from the very inconvenient aspect regarding: how do I connect back to that host after my one session is over?)
(side note: I believe that if you don't verify host keys, then SSH is completely, 100% useless against MITM/proxy attacks, whether you allow the key to be used 1 or infinite times. Please correct me if I'm wrong on that.)