I take notes on an iPad using an Apple pencil. It seems to right balance between using the digital to organize and correct things and the cognitive benefits to handwriting.
I endeavoured when starting a new job last year to be totally digital - I use MS OneNote on a Surface Pro. The experience is very close to using a gel pen on paper for me. The handwriting recognition is remarkably good - I don't really write much but occasionally I'm searching for something and it finds my marginal notes. 20 years of almost exclusive keyboard writing has taken is toll on my already poor handwriting.
I know what you mean. My handwriting was always awful, even during school/university. But I think it pays off to actually take a few minutes a day to try to improve it. For me, I had to start writing a bit slower, to get used to the forms, and doing it correctly, and then, try to do them a bit faster over time
It's pretty close. The tactile sensation of writing against paper versus glass is different.
I do wish pencil could be attached to the ipad easily without having to buy a special case though as they always tend to separate in my household and having to go hunt the stylus down makes it a lot less useful.