The problem DORA solves
After associating and encrypting the link, a device is standing inside the network with no identity: no IP address, no gateway, no DNS. It cannot ask a specific server for help because finding servers is exactly the thing it cannot do yet. DHCP resolves this chicken-and-egg with the bluntest tool in networking — the broadcast — and a four-message negotiation nicknamed DORA: Discover, Offer, Request, ACK.
The exchange is a tiny auction. The client shouts its need to everyone, any server may answer with an offer reserved from its pool, the client publicly accepts exactly one — naming the chosen server so the losers can recycle their reservations — and the chosen server ratifies the lease. Only that final ACK configures anything.