We can create a decentralized VPN service that can't be blocked or sued by improving on SoftEther VPN, which is open-source software that can make VPN connections camouflaged as HTTPS, so it's invisible to DPI firewalls and can't be filtered.[0] It's already sort of decentralized, as it has a server discovery site called VPNGate that lists many volunteer-hosted instances.[1] But we can make this truly robust by doing a few more things. First, make a user-friendly mobile client. Second, figure out a way to broadcast and discover server lists in a decentralized manner, similar to BitTorrent, and build auto-discovery and broadcasting into the client. Third, make each client automatically host a temporary server and broadcast its IP so others may connect to it whenever it's in use. That should be enough to keep the Internet free in most countries because most forms of censorship would become impossible.
[0] https://en.wikipedia.org/wiki/SoftEther_VPN
[1] https://www.vpngate.net/en/
In the long term, we can take things even further and build a decentralized hosting provider, like AWS/Azure but your web services don't run on a physical server that has an IP address and physical location. Instead, the entire network of physical computers around the world together behaves like a single computer: an Internet-sized virtual machine. No node knows what the entire machine is up to, but every node may store things and run programs on it. The amount of compute/storage a node contributes equals the amount of compute/storage it's allowed to use. This would truly make the Internet open and free worldwide and draw out its full potential.
For the short-term goals, there's already concrete progress. The long-term goal needs more theory work but the missing ideas are probably buried in existing literature.