What's the fastest way to change notes using MIDI keyboard?

I’ve got a bunch of notes written, and I essentially want to maintain the rhythm but change the notes. My current process is:

  1. Arrow key to select the note
  2. Return to enter input mode
  3. Play the note on my keyboard
  4. Return to exit input mode
  5. Go back to 1

I would like to bypass the enter / input mode cycle if possible. So when I play a note on the keyboard, it changes the note in Dorico and advances to the next note. That way I can just play the series of notes to replace whatever’s there.

Is that possible? Or is there a better way to do what I’m doing (note: I absolutely want to use the MIDI keyboard for this!)

https://steinberg.help/dorico_pro/v2/en/dorico/topics/write_mode/write_mode_notes_pitch_changing_rhythm_locked_t.html

Thank you!!!