DNSCrypt

Assume you use Archlinux and NetworkManager.

Edit /etc/dnscrypt-proxy/dnscrypt-proxy.toml:

listen_addresses = ['127.0.0.1:53', '[::1]:53']

server_names = ['google', 'google-ipv6', 'cloudflare', 'cloudflare-ipv6']

Enable and start service:

systemctl enable --now dnscrypt-proxy.service

In NetworkManager GUI, change DNS:

IPv4    127.0.0.1
IPv6    ::1