Yes, let's reverse Apple's entire intentional decision to make iOS a secure, closed system. Whether you agree with it or not, a change isn't going to happen any time soon in this department. Your choice is either to go through the correct process (which I haven't found to be that problematic as a registered developer) or you switch to Android.
Also, iOS isn't awful for the vast majority of people. The vast majority of people would have absolutely no idea how to install an IPA let alone what it is or why they would need to. Sacrificing the security of an ecosystem for a vocal minority is not sound logic.