If you haven’t tried lately, you might be surprised. GoodNotes (uses the MyScript engine) + Apple Pencil does a remarkably good job with my notes. (Printed. My cursive writing has been described as securely encrypted.)
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I’ve been using GoodNotes for years for my as well encrypted handwriting, but recently replaced by Noteshelf because it has the same kind-of my handwriting recognition than GoodNotes (that is: nothing), but text can have formatting, coloring etc.