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TLD - Top Level Domain (.com .ml .whatever)
Registrar - NameCheap, PorkBun, etc. Submits your domain.TLD request to a Registry
Registry - Maintains the list of domains for a specific TLD and the server infrastructure to run the TLD
ICANN - Decides who can be a Registry and for which TLD. Not involved in the nitty gritty of individual domain names.
How is that decision made? How hard would it be for a group of amateurs to make an rog and try to be a registry or registrar.
You should check out the OpenNic project, which is an organization that has already attempted what you’re describing.
https://www.opennic.org/