I've been staking in some of these projects, honestly the APY is just like normal APY, most of the people that uses restaking protocol only want the airdrop, not the real APR that they offered, I think this kind of project suits you best if you just have some ETH lying around, earning on the side by just staking it.
you staked your coin in a smart contract controlled by the foundation, I don't believe it can even be called non-custodial, you practically lost control of ETH until you make withdrawal request, so no, I don't think you can stake without giving up control of the assets.