I have one of the capacitive pens around the $20 mark that works just about perfect with my older iPad and Symphony, as the iPad is too old for Dorico (older O/S) .
Although the pen is precise enough, I’ve not found it to be a great experience - okay but not great and not the pen’s fault. I find myself using the other software’s piano keyboard for input in the same style as the Dorico iPad input appears to be.
It does work well as sort of a precision mouse, for selecting both music and features like accidentals or whatever. In fact I think that sums up my experience that using the pen is a bit like using Dorico or Notion or whatever exclusively with the mouse. Which I personally find tiring, Though I am glad to have the iPad option, it is a relief when I’m back on the laptop.