Indeed zk-STARK addresses it, but it is not the only alternative (Bulletproofs, Nova, Halo2 also doesn't require a trusted setup). All zk-SNARKs need some kind

Indeed zk-STARK addresses it, but it is not the only alternative (Bulletproofs, Nova, Halo2 also doesn't require a trusted setup). All zk-SNARKs need some kind of intermediate representation that looks like a circuit, then this characteristic has nothing to do with the trusted setup requirement.