Self hosted solutions like Adguard Home are ideal since no public internet query is made if the DNS can be resolved locally. DNS over HTTPS providers like Mullvad or AdGuard are a good second since not only is the query encrypted from your ISP but also routed through HTTPS traffic adding more obfuscation. DNS over TLS is the last option to be considered, still encrypted but easier to fingerprint.
Unencrypted DNS or ISP provided DNS should always be avoided. Security and privacy nightmare.