Domain registration in the US is a mess. I can't get my head around it. I prefer the system we have in Brazil.
In Brazil there is a non-profit organization that administers the .br TLD. All domains sold are sold through this entity (registro.br). After registration you just insert your DNS IP addresses and that's it. No worries and no complex transfer process.
If it is a non-profit company part of the government. So yes I'm not just ok but I prefer that way. Basic services like water and electricity are usually monopolies in several cities and people are ok with that.
In Brazil there is a non-profit organization that administers the .br TLD. All domains sold are sold through this entity (registro.br). After registration you just insert your DNS IP addresses and that's it. No worries and no complex transfer process.