Linear history is a punchline that ignores the reality of source control. The only truly "linear" history I'm aware of in source control is systems built on patch theory/operational transforms/CRDTs and that form of linear is subject to reordering and still needs explicit merge commits with (implicit) multi-commit dependencies even if there are few stated needs to visualize that as a DAG.
I agree with you, in general it is good to minimize complexity in life, which I why I eliminate rebase workflows and squash merges from mine. I prefer to see the evidence of where merges happened (and they should happen early and often), and graph data structures are very familiar to me as a software developer, including traversing them. (And git offers useful traversal tools such as --first-parent for when you want to view the DAG more like a linear history and ignore some of the noise. There's no reason to artificially simplify the DAG when DAG traversal is easy and accurate.)
`git merge --no-ff former-branch` by default includes "former-branch" in the auto-generated merge commit name. When it matters what branch a commit "originated" on, it's very easy to use `--no-ff` (which doesn't rewrite history and won't need any sort of force push!) and most PR tools used to default to that before "rebase" and "squash merge" became some people's favorites because of some weird (in some cases OCD) wish to see SVN-like straight lines only in their commit history.