The protocol was recently extended with Anonymized DNS, a mechanism that hides client IP addresses from resolvers by using relays dedicated to secure DNS forwarding. A new network of DNS relays is currently being deployed.
https://www.reddit.com/r/dnscrypt/comments/dhoxah/anonymized...
dnscrypt-proxy, the reference client implementation, is at version 2.0.29.beta3, released yesterday.
There is a new, easy to use and deploy implementation in Rust to add DNSCrypt support server-side, Encrypted DNS Server: https://github.com/jedisct1/encrypted-dns-server
DoH, DNSCrypt and DNS relaying can happily share the same TCP port 443.
A complete protocol description has been available for years, but turning it into an IETF document is time consuming. It will eventually happen, but as an independent project, writing software has been prioritized over marketing.
Shortly after DoT and DoH came along as standardized proposals with fewer NIH issues and more interoperability. DoH also has the bonus of looking like standard HTTPS traffic to the resolver. Technically e.g. Google could host DoH on google.com/dns-query and it would be hidden in the deluge of HTTPS that already goes to google.com.