Hi Maarten, I appreciate the thought that went into this and I generally agree that DoR is not needed for mature teams. I do find it helpful as a checklist to help NEW Scrum teams. It is a useful guide during backlog refinement sessions and serves to highlight risks and dependencies that might prevent an item from getting to Done in a sprint.

I do appreciate that it can actually undermine agility for the reasons you have given. But for new teams, I think it is a helpful starting point.

Cheers!

Anthony