I only have experience with Namecheap. They typically only offer discounted pricing for the first year, but you can pre-purchase renewals at the full price for several years (maybe up to 10, haven’t looked recently)
For example, I sold hackathon.co for good money (I even gave them the GSuite at that time). I also sold html5.in to Microsoft sub $10,000 (via a broker, unfortunately, which I realized way later) still for a pretty good sum. I have also sold quite a few more for low $100s.
And I donated thus.org to a Texas university for zero dollar and gave them the GSuite too. I'm happy that an educational institute is using it and the domain is alive.
I own nsfw.in, which was "a link shortener to warn you that it might not be Safe before opening". I got lazy and is on sale and I keep getting regular emails/contacts to buy it.
I didn't realize registrars let you buy for 10 years. The best I have seen are discounted pricing for 2-years.