I've always struggled with writing by hand primarily because I tend to over-tense my grip on a pencil/pen even with an ergonomic grip attached. I learned to touch type pretty early on, so back in school before they let us bring laptops to class I would sometimes "type" notes and imagine the text of them in my head as I typed. This still helped with my retention compared to just listening and making mental connections between the concepts being introduced. Sometimes I would type out the full detailed notes and then by hand write out tiny personal shorthand bullet points that would help me recall the general point.

To this day, if I'm trying to learn something new, I will sometimes "type" on an invisible keyboard if I don't have a pen/paper or a smartphone I can write down specifics on. It doesn't work as well for things like memorizing phone numbers or like support ticket ID numbers, but I've found it helps me ingest knowledge even if it doesn't help as much with raw information the way writing by hand does.

Now all of that said, I have also found, like Neal Stephenson, that a high quality, low friction pen on notebook paper tends to feel the best and produce the least cramping. To this day, when I absolutely need to take handwritten notes, I use a Sharpie Rollerball 0.5 black pen with a small notebook, primarily for D&D (and other TTRPG) prep-work, so that I can recall specifics off the top of my head better while improvising.