I use DNSCryptProxy because I can use it with Firefox as a local TRR server, supports additional filtering, supports DNSCrypt and ODoH caching and is open source.
It also picks from 140 or so anonymous DoH relays, with specifics for nologs and dnscrypt support.
Why would I go for just 1 arbitrary provider rather than the lowest latency choice out of 140?
I also think the latter point is a bit overblown. So long as you keep your kernel updated and you only expose a single high UDP port, it should all be fine. I have ufw enabled on each pi, along with various logging mechanisms in place to see if things seem reasonable. That and 2fa for actual ssh access.