I'm no cryptographer, but I would say that it is indeed the case that you can assume that two parties can derive a shared key over an untrusted channel. The post Cryptography Right Answers PQ [1], linked in another comment, addresses this in the section "Key Exchange". Rather than thinking about Diffie-Hellman directly, you would turn to a Key Exchange Mechanism (KEM).

Before post-quantum cryptography concerns, KEM were indeed mostly built on top of Diffie-Hellman key agreement, but you could also build one on top of RSA, or on top of some lattice constructs. But you wouldn't build one yourself, there are good constructions to choose from! The OP actually has a 3-part series on KEMs, although I don't think it addresses post-quantum issues [2].

[1]: https://www.latacora.com/blog/2024/07/29/crypto-right-answer... [2]: https://neilmadden.blog/2021/01/22/hybrid-encryption-and-the...