I agree with your statement, in order to be resistant to censorship all clients should adopt the gossip model and each client should be his own relay. Although to encourage everyone to be their own relay we should solve problems such as dns, at the moment it could be all through tor but then customers who do not use tor could not access. There is a lot of work to do.
IMHO too late for that. But I personally think nostr is fine just the way it is. Better than a spof, which is a win.
If people can see censorship it's less effective because it breaks people's default level of trust. If a client filters someone, what else are they doing? Some people will move to a different, more transparent client. That's not possible on a centralized service.
dns is not the issue, not even a little, running servers from home is a solved problem, http tunneling is perfect, the real unavoidable problem is that maintaining servers suck and no one wants to do it. in fact the very idea of Nostr was based on that thesis as opposed to the p2p thesis.