I can remember the pain and hand fatigue that cursive writing gave me for around 5-6 years in school until I said fuck it, I’ll write letters convenient way, not “right way”. Teachers could do nothing with it, and I simply wrote letters as you can see in books, but with few shortcuts. All readers say it reads more clear on average than, well, average cursive.
We wrote with “fountain” pens back then, if it makes any difference.