Fully decentralised exchanges are the end goal and its ugly cousins we have to make friends with along the way in the centralised and hybrid exchanges are what we have medium-term

You don't HAVE to rely on a centralised exchange to move in and out of fiat, we do it because of the convenience and them assuming 3rd party risk. However there are sites like LocalBitcoins and paxful that allow for P2P sales and I think this will grow as crypto gets into the hands of more people, but for now, centralised exchanges are perceived as safer.

I do think CEX's will always be around they just won't be as big a part of the market as they are now, some will be happy to pay the premium in privacy while others will want true decentralisation and let the market support the needs of everyone

I am a bit of a snob already so I tend to stick with the most decentralised options

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