(also, 1] dns leaks are worse than sni leaks as typically more people are exposed to the dns query and 2] HTTP/2 can carry more than one hostname on a connection so some hostnames that appear in dns are never leaked through sni.)
I don't see any way to have encrypted SNI without paying a price of one additional round trip. That's a fair price for something you must have, but for anybody to benefit we must insist everyone use it always, or adversaries will simply block it. And a round trip is a high price for users who don't (believe they) need this.