The rationale for making it a hash is so that the domain separator Hex string is the same length, even if the OIDs end up being different lengths; for example if IANA decides to assign from multiple arcs, or if in the future (Falcon, new PQ sigs), we get OIDs from different arcs.
On the other hand, maybe it is ok for the domain separators to be different lengths, as long as they are pre-determined and not completely variable length (ie length is controllable by an attacker).
The rationale for making it a hash is so that the domain separator Hex string is the same length, even if the OIDs end up being different lengths; for example if IANA decides to assign from multiple arcs, or if in the future (Falcon, new PQ sigs), we get OIDs from different arcs.
On the other hand, maybe it is ok for the domain separators to be different lengths, as long as they are pre-determined and not completely variable length (ie length is controllable by an attacker).