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Similarly, they can still see the IP being connected to and in many but not all cases that's as good as seeing the domain name. The collateral damage can deter some of the blocking but I don't think it stops it in general. For IPv6, there's also generally not IP reuse like that.
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There are some potential privacy issues with DNS-over-TLS and DNS-over-HTTPS due to implementations reusing connections. It mostly applies to using DNS-over-{TLS,HTTPS} with a VPN or Tor though. Without a VPN or Tor source IP address is enough to tie together the requests anyway.
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Firefox doesn't use Chromium's networking stack on Android. I specifically mentioned the rendering engine because you can supply your own networking stack on iOS. iOS forces you to use the Safari-based WebView for rendering, but you can handle all the connections on your own.