Iptables can be used to dump any traffic destined for port 53 to a dns server of your choosing, but I don't know if something like that exists in consumer routers. (Blocking a baked in doh client is a lot more complicated...)
(nftables syntax)
ip saddr != @lan_dns ip daddr != @lan_dns udp dport 53 counter dnat ip to numgen inc mod 2 map { 0 : 192.168.1.1, 1 : 192.168.1.2 } comment "Force all DNS traffic to go through local DNS servers"