After I started using a Palm Pilot, my handwriting improved significantly and the changes seem to have been permanent. I get basically 100% accuracy with the Apple Pencil in iOS.
There is a delicious irony in the fact that you are training yourself using a reinforcement learning approach to meet the needs of an imperfect machine learning application.
The insta-feedback. I learned to spell because a little red squiggly line told me to try again. I avoided the right-click to autocorrect. Now everything just autocorrects and I assume people are more and more reliant on it.