getdns is currently the most feature rich client for DNS-over-TCP and DNS-over-TLS features. See the DNS Privacy daemon - Stubby web page for how to use it as a local DNS Privacy stub resolver.

getdns 

LDNS (drill) 1.6.17

Digit 1.4


How to Decode TLS packets in Wireshark

If you want to decode the DNS packets in Wireshark (use 1.12.1 or later) to get support TLSv1.2