I gave a Live presentation at Chemnitzer Linux Tage (Chemnitzer Linux Days) this year, 2022, as part of the Inkscape Booth. In this presentation, I took a sketch through to a completed, "Ink" drawing, using Inkscape. It was great fun, with lots of fantastic interaction from everyone watching. I was using a "One by Wacom" Pen Tablet, But I also demonstrated how to do this with only a mouse.
"Here be Dragons" Freehand drawing from a reference image (from Unsplash) Used the Calligraphy tool with a Wacom Intuos CTL-480s Pen Tablet I need to brush up on cross hatching...
The rough sketch and final SVG artwork, was all done in Inkscape 1.1.2 I used solid shapes, along with linear and radial gradients. (no blur used) The use of a Wacom Pen Tablet, really helped to render the hair and beard. I used clipping masks for the hair and also the eyes. This allowed me to position the pupils and make fine adjustments. Draw Freely.