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HTTP only adds a small size overhead due to header formatting but it won't add latency, and DNS requests are in general dominated by connection latency (outside of local network)
HTTP adds latency for the first request to a server, since you will have to do the 1-RTT certificate and key exchange before sending your HTTP request.

For many use-cases, that penalty will be paid on every request rather than just the first request, because many DNS resolution libraries aren't designed to have persistent state, so every time the library is used, it will have to set up a new connection to the server from scratch.

I think you're confusing http(s) and tls. Http(1) is a request/response protocol. Tls is the stream encryption and key negotiation protocol most heavily used.

Also, tls1.3 adds 0rtt for subsequent cqlls to the same server.

you have also to do this with plain QUIC or with plain TLS adding HTTP on top of both doesn't add RTT, the point was (DNS over QUIC) vs (DNS over HTTP over QUIC)
Are there any actual implementations being worked on?
Reinvention of the wheel