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Check out these guys: https://www.coscreen.co/

This lets you share your screen, but then still relies on whatever the whiteboard app is that let's you collaborate on the 'picture'. I'm looking for the whiteboard app--screen-sharing options we already have.

I love Miro https://www.miro.com

I've used miro for jamming using stickies and text. I was hoping for something that could take freehand input using a stylus, on a tablet or possibly a large-screen phone.

webex has a whiteboard built in but I've only ever scene junior engineers use it. The older ones tend to buy a physical whiteboard and turn their webcam on.