rdns dev here
census5280 Almost no requests are made with hardcoded IP's (at least on my device, which includes whatsapp, snapchat and waze).
WhatsApp does fallback on hard-coded IPs. I see it do so multiple times a week on my Android. That's just one of their connectivity-at-all-cost measures. One of the early Whatsapp employees confirmed as much on HN (thread).
census5280 Is it possible to block network access when the private DNS option can't connect?
If Private DNS cannot be connected to, on Android R+, the OS should put up a notification as after that point, it'll drop all DNS queries sent to it.
If you mean, you want to block connections from any app that may be bypassing Private DNS (for instance, by using its own DNS-over-HTTPS layer like Telegram does; or hard-code IPs like Instagram & WhatsApp do), then there isn't a way to do so (out of the box) today. But: If you use Rethink, you can turn ON Configure -> Firewall -> Universal firewall rules -> Block when DNS is bypassed to achieve this (though, you'll have to use the DNS server set in Configure -> DNS and disable Private DNS for Rethink to effectively apply that block rule).