ohhh???
Kademlia
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.
Oh my bad, this was the part I think you think you thought it wasn't, I think?
Kademlia... that's distributed hash tables, aka DHT. DHT uses servers to lookup and locate nodes. Therefore it's not truly distributed, thus not P2P.
I think the benefit here, for you, is that what you're doing is done so you can do what you do best which is twisty fluff like the best of them.