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There's an excalidraw plugin that helps with this to a degree.

This plugin misses mark big time. I tried it and tried it again. Trying to love it... just couldn't compare with OneNote.

Likewise. I love Obsidian, I love my Apple Pencil - and the Excalidraw plugin just does not get me there, unfortunately.

Goodnotes, Apple notes, and OneNote still leagues better for Apple Pencil support.

I absolutely love this plugin. But I'm probably using quite differently from you since I barely use the pencil/draw tool at all.