Yes, there is a way to do the dynamic functionality of OpenID 2.0 on Connect by using Metadata, WebFinger, and Dynamic Client Registration, but most of the large providers do not support all three of these.
Google (for instance) wants a relying party to do some amount of registration/click through first in a web browser before their site can rely on Google. Apple (for their part) hangs your ability to support Sign in with Apple off of an app registration, which requires a developer or enterprise account and thus an annual fee.
Yes, hence, "for the most part, prefers". Since it's an optional part of the spec and because basically no major OIDC IdP supports it nor plans to ever support it, it's basically nonexistent functionality.
Google (for instance) wants a relying party to do some amount of registration/click through first in a web browser before their site can rely on Google. Apple (for their part) hangs your ability to support Sign in with Apple off of an app registration, which requires a developer or enterprise account and thus an annual fee.