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I have an entirely different setup from you, my twin Asus RT-AX92U (Gnuton Merlin FW) are running as AP and mesh node while the Brume 2 serving Adguard Home as the router.
My experience with Asus router is don't rely it too much on DNS as it is capable on basic functions and slow in catching up with these DoH/DoT/Quic tech. No experience with running pi-hole but aren't it supposed to filter and send DNS requests upstream to DoH providers directly like what AdGuard does? instead of passing to Asus? I have not fiddled/looked at my Asus router DHCP/DNS functions as it is setup as AP + node the moment it is deployed for use (another reason why I want to avoid Asus for DNS).
You are right regarding the Asus. It has the best FW features among consumer routers like Asus/Netgear/Linksys/TP-Link/D-Link, but still can not compare with OpenWRT. Merlin FW adds more features but still can not compare with OpenWRT.
Pi-hole is pretty much similar to Adguard Home and it can direct to upstream DNS, including DoH providers with a bit of extra configuration.
https://docs.pi-hole.net/guides/dns/cloudflared/
The thing is device side can bypass Pi-Hole (or Adguard Home) by using their own DoH DNS server. To intercept DNS, you need Firewall rules. I tend to think there are ways to do it in Asus as well using iptables but I have not tried that myself.
This is one place pfBlokerNG (with pfSense as the router/firewall OS) is better than Pi-Hole and AdguardHome since it has seamless integration with pfSense using the autogenerated Firewall rules. It also includes IP filtering. But again that is its weakness as well since it is tied to pfSense whereas Pi-hole and Adguard Home are not tied to a specific router operating system.

