You may have failed to notice that the post that you quoted does not assert that DHT isn't true P2P; it asserts that Kademlia - and whatever else Bittorrent uses - isn't.
If I happened not to add, for completeness of expression, that some DHT is serverless, that doesn't mean we're now using a method that isn't true P2P.

With respect to DHT, being serverless is what counts as far as I'm aware.
With respect to inter-node communication, using a P2P protocol and not RPC calls is what counts.
Lastly, it'll benefit you to recall that Dan has proposed a hybrid DHT-mesh.