DoH does not take that away. It might move it away from the hands of your apparently adversarial ISP, but delivers the information in the hands of whoever is running those DoH servers...presumably Cloudflare, who already hold far too much sway for my comfort.
To qualify as a DoH resolver you have to agree to not log data for purposes other than providing the service, not keep logs for longer than 24h, and not sell any such data. This is audited.
Where are you seeing anything about audits? The link just says that Mozilla can decide to remove people from the TRR program. They aren't sending people to Cloudflare and Comcast's server rooms. It's great that should a violation be disclosed to the public Mozilla might remove them, but unless there's a whistleblower the public will never know what's being done with their browsing history.
DoH does not take that away. It might move it away from the hands of your apparently adversarial ISP, but delivers the information in the hands of whoever is running those DoH servers...presumably Cloudflare, who already hold far too much sway for my comfort.