Julia solves this very gracefully with LaTeX-like input, ie. you type \lambda<TAB> which expands to λ

To avoid this you typically use a character keymap with APL characters accessible with AltGr and Shift+AltGr, for instance AltGr+i for iota and AltGr+r for rho etc. After a while you learn the keystrokes and if you need a less frequently used character you can click on it in the language bar.

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someday soon we’ll be able to use voice input to say these characters.

Of course, I’ve been wrong for about a decade. but we have to be getting close