Yes, but non-Onion links are slightly more memorable.

That's not to say that domain typo attacks aren't a real problem, but memorizing an Onion link is entirely impossible. Domains exploiting typos or using registered/trademarked business names can also often be seized through legal means.

Can we not map regular domain names to onion links? DNS except instead of regular DNS mappings of URLS -> IP Addresses it's URLS -> Onion URLs?

Or maybe we return to using bookmarks? Not sure exactly.