Android Private DNS and Router DNS conflict

When using my designated Private DNS on Android and then connecting to my wifi which has the corresponding DNS, the Android Private DNS says couldn’t connect. If I switch on my Android VPN, it connects to the Private DNS or if I switch to mobile it also works. Seems to be a conflict that the router DNS prevents the Private DNS from connecting. Is there a workaround for this that doesn’t require me to change the Android settings each time I switch wifi on/off or having to use the WARP app. Thanks

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