I live in a country with censorship and was wondering if it's possible to bypass DPI by just enabling ESNI, DNS over HTTPS and Always HTTPS? If not, what else should I enable to bypass DPI firewall without having to go the VPN route?
A DPI solution cannot do targeted blocking when ESNI is used just by looking at the TLS ClientHello. But it can simply block any use of ESNI - see China is now blocking all encrypted HTTPS traffic that uses TLS 1.3 and ESNI.
Apart from that ESNI is not a thing an end user could actually enable globally. ESNI needs support both by the HTTPS server itself (or the reverse proxy in front of it, like in case of a CDN) and must also be setup in the DNS for the domain. And even with ESNI enabled and not blocked one can still monitor which IP addresses get visited, which can often be mapped to one or few domains served on this IP.
... what else should I enable to bypass DPI firewall without having to go the VPN route?
The proposed solutions don't provide adequate protection as described. There is no additional thing to enable to bypass the DPI. Instead use a VPN, HTTP proxy over HTTPS, SOCKS proxy over TLS or similar which transfers all traffic encrypted to a trusted endpoint, bypassing the DPI.