Eh, the reason DNS is a problem is because there is a central source of identity that can be tampered with. If relays just used npubs to communicate their current IP, there isn't a central point of control. Swapping out IP for something fancy might provide some additional defense, but at significant additional complexity that will have bugs and possibly back doors. We could continue to use IP with Tor or Whisper to get similar benefits using proven technologies.
DNS is bad, but IP is mostly harmless
Governments and some massive corps can intercept IP and make their server be the real one. Worse, for you it will still look like your server is replying. You wouldnt even notice they switched your server. This is especially true for nostr relays. They can just put up their own relay MITM and start tracking everyone that connects to them.
You could still use npub to handshake and upgrade to TLS without replacing IP with exotic new technology.