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Depends on what the goal is. But yeah I agree if you really don't want them on YouTube (or whatever) and really do want them to tinker with their devices then you're likely going to have to eschew technical measures for more overt ones.

Well, the point of it is to turn learning about network security and TCP/IP into a game that encourages him to dig in deeper than just the typical surface level interaction with a computer. Firefox has just made the job harder for me than I'd like. I have no issue with simply having him turn the thing off, or taking it away. It's moderated, I'm not totally hands off, c'mon.

I think the point is that it's not enforceable.

Correct. I think that's the purpose of DoH, but it's not helping me with my little game.