Both DoH+ESNI will make me more secure and private. Here's why:
Today my home ISP has deployed middle boxes that inspect my traffic to profile my browsing habits and serve me ads. They serve ads by doing click hijacking on plain http websites. yeah, it's nasty and they do it at a huge scale.
Obviously, we have some legislative gaps to address here.
Irrespective of the legal gaps, I can make it more expensive for them to do this by ensuring all of my traffic is fully encrypted (TLS 1.3 or wireguard).
They can still see IPs and do IP reverse lookup and traffic timing analysis etc. But the information leaked this way is far lesser than today and definitely not actionable immediately the way it is today.
Now, w.r.t making some companies more powerful – that is not inherent to DoH. DoH makes it possible for anyone to operate a secure and private resolver and any client is still free to choose who should be their upstream dns resolver. Client auto configuration protocols will evolve to support the ecosystem as more DoH resolvers show up.