Sorry, by "bidirectional approval" I meant that the author's (i.e. recipient's) mailbox would somehow confirm its desire to receive mail forwarded by robtoledoyour.com.
What you describe is, I think, impossible without eliminating certain extremely common use cases; it would break:
* Mailing lists (which are the whole reason ARC exists); I don't want to have to approve lists.kernel.org to send arbitrary mail on behalf of me (and certainly not on behalf of gmail.com, which I don't control!); I want it to be able to forward mail that it promises came from me and for recipients to trust it only if they trust lists.kernel.org (which is how ARC works).
* Mail forwarding between a user's different mailboxes; there's no way I can get Amazon.com to agree that myspambox@gmail.com should be allowed to forward mail on behalf of Amazon just so I can use a throwaway to forward mail to my main account.
I can imagine configurations where everything works dramatically differently, but it's hard for me to see what's wrong with the status quo (a signed message, with ARC, etc) except that To headers are allowed to not match RCPT TO, which as others have noted is both a point of confusion for users and how BCC works, and thus a hard to eliminate feature.