IIUC, the ACH system
https://en.wikipedia.org/wiki/Automated_clearing_house
Is utterly insecure. Anyone with your routing number and account number, 2 numbers printed on every check, can ask your bank for all of your money and the bank will not confirm anything with you.
My first experience with this was Apple's credit card that can only be paid via ACH and I was shocked when I typed in my info into the apple wallet app and then it took my money without the bank confirming anything with me.
Why hasn't this been more of a problem? Are their mitigations? These numbers can be stolen from data breaches even easier than passwords as they won't be salted and hashed, they'll be the actual numbers right? The entire payment regime in the USA seems to be switching over to ACH. Should I be worried?
The originating bank will then do the same to the merchant who debited your account, with feeling and 4 part harmony. If they do this too much (>1% unauthed, or >5% overall), then they get cut off. (Exact thresholds depend on the bank and their risk tolerance and what they've underwritten the merchant for. But those are about the highest numbers you'll see, though sometimes NSF returns can be higher. )
ACH never settles. There's no security as such. An ACH transaction happens overnight, on trust, and may come back (by agreement) 60days later, and longer in cases of extreme fraud. So any time you're seeing a 2-3 day hold on ACH, it's the bank doing risk management decisions, not something in the underlying transfer. (note, that may not be strictly true for some correspondent small banks in alaska or other odd time zones, where there really is a day+ delay on things)
The only thing that's keeping fraud under control is the banks doing underwriting on the merchants who can do debits. They're on the hook (ultimately) if there's fraud, so it's in their interests to keep it clean. They're also not likely to cut and run, because banking connections to the ACH network are not cheap/easy to come by.
(source, I've worked in this space for 18 years)