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 npubs can be self-generated and used with little or no dependency on infrastructure, such as relays. 

That’s the superpower of #nostr 
 Yes indeed public keys can be generated by anyone anytime without any infrastructure dependency. Applies to Npubs and Pkarr, because the former is Secp and the later is just Ed25519 
 But you can have both, by each signing the other, and infrastructure for signing is mature in #nostr and #pubky.  So you just need something like NIP-05 for pubky.