Use a touchscreen, fill out a ballot, hit the print button, receive a paper printed ballot, inspect it for errors, drop it into a scanning system that scans and retains it. Importantly, the optical scan is done not by reading any sort of barcode printed on the paper but by reading the same English letters as the voter is inspecting.

All the convenience of electronic systems, hand recount is available and easy. Hand audit some of the machines after every election to ensure accuracy. Doesn't matter how messed up the touchscreens are, since the paper ballot can be inspected by the voter before being cast. No such thing as hanging chad or butterfly ballot problems. Zero bad ballots. Voters who skip races will be doing so intentionally. "LIEUTENANT GOVERNOR: NO VOTE". If they turn that in to be scanned, that's what they wanted.

Isn’t that somewhat contradictory to the rest of your comment? The mark & scan machines work well and have for decades, and not just in voting but in standardized testing in various contexts (school, drivers license tests, etc).

It seems the voting machine element of the equation “intrinsically resistant to manipulation” is pretty much solved, if election officials would just keep what’s worked well for decades rather than transitioning to shiny new digital toys with no paper trails and poor security.