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Any way to improve handwriting on Surface Pro?

Id really just prefer a rubber tip on the SP pen. We'll see about when the Bamboo Feel replacement tips come out later this month.
My handwriting honestly isn't that horrible normally. It's just writing on the glass with the hard plastic nib that presents the challenge. I tend to press down hard when I write and that causes issues on glass.
Yes, that is the one I have.
No interchangeable tips though. It's still plastic like the MS pen.

See if you can try one in a Samsung store.

The Samsung store here in Thailand let me try it before I bought it.

They make this same basic stylus holder for the Galaxy Note 10.1 S Pen that does have replaceable tips. The one I bought came with a stylus as well.