I think lazily linking is the default even if you don't use dlopen, i.e. every symbol gets linked upon first use. Of course that has the drawback, that the program can crash due to missing/incompatible libraries in the middle of work.
Anyway, while what you said is theoretically half-true, a fairly large number of libraries are not designed/encapsulated well. This means almost all of their symbols are exported dynamically, so, the idea that there are only "few public exported symbols" is unfortunately false.
However, something almost no one ever mentions is that ELF was actually designed to allow dynamic libraries to be fairly performant. It isn't something I would recommend, as it breaks many assumptions on Unices, (while you don't get the benefits of LTO) you can achieve code generation almost equivalent to static linking by using something like "-fno-semantic-interposition -Wl,-Bsymbolic,-z,now". MaskRay has a good explanation on it: https://maskray.me/blog/2021-05-16-elf-interposition-and-bsy...