I would like to believe that, but there are some usecases where they are useful. An example would be advertisement over audio. I can't plug a product identified by 52 characters. And these situations will happen all the time, there won't always be a way to share a url or qr. Another reason to use ICANN is for organisations. You can't sell your company's public key, but the domain is an automatic property of the new owner. I think even if we only use keys, we will reinvent registrars for these use cases.

You can do vanity npubs for corps in a FROST design where they can swap keys as needed without changing the npub. Key discovery/completion goes through the user's WOT graph.

people practically don't use domain names anymore. it's time to let that legacy go

namespaced directories can be server via other more trusted entities, but there is no need for a monopoly on it (WoT)