ICANN is easily manipulated and/or a shill. As has been shown very recently with the domain confiscations, ICANN cannot be trusted. We need an organization that is similar to ICANN but totally transparent and directly accountable to the public without being even remotely connected to any government.
I have no idea how to implement such a body, but hopefully, someone more clever than myself will discover a way.
There is an inherent conflict with the idea that global top level domains (GTLDs) can be effectively managed without a matching global legal jurisdiction, which of course doesn't exist and won't exist anytime soon.
Using country code domains exclusively would have aligned the domain namespace with real-world legal jurisdictions and simplified or at least 'localized' these sorts of disputes.
In this alternate world you could still have domain mismanagement but it would exist in a scope that could be addressed within existing legal and political boundaries.
The existing situation with GTLDs, ICANN, and conflicting legal jurisdictions is a gordian knot.
I have no idea how to implement such a body, but hopefully, someone more clever than myself will discover a way.