Logic and the Law
Harnesses are not DOT legal because they are made for the track and not for the street, which are two very different operating environments. The law wants you wearing their approved "idiot-proof" seat belts while you are driving on "their" public roads. And there is some logic to that because how you install, adjust and buckle the harness is very critical to it's performance and your safety. I don't remember what the final analysis was on Earnhardt's fatal crash, but the belt supplier, Simpson, argued that the belt may not have been installed properly.
While at the track, it's your right to take some risks and and it's up to you (with a little help from tech) to get the harness installed, adjusted and buckled right, not only for you but for any other sized driver that puts it on. But on the street, the law is gonna "protect the average joe" and does not believe that he will get a harness put on right time and time again as they are constantly in and out of the car. DOT 3 points belts are a severe compromise, but they are convenient and the odds of screwing it up are lots less than a manually adjusted cumbersome harness. Now you may think you're not the "average joe", but the law does, and that's why the cops can give you a ticket for not wearing the stock 3 point belt.
Don't install a harness for looks.
And don't get us started on the "full harness without a roll cage" debate.