Afaik Inkscape has quite limited use for pressure sensitivity (I found one tool in the app that uses it, and it wasn't really for me). As long as the device can be used as a pointer it will work at least as one.

Even though freehand strokes seem intuitive, it is often hard to optimize them. If you want clean and as simple paths as possible, just use bezier curves and node tool. This is how I usually do it.

As far as other free(mium) software goes I recall that Apple has its own program that used to go under name Vectornator. It should be called Linearity Curve now. Maybe also chceck Affinity. Those may have better use for pressure.

If you want something for notetaking, look into Xournal++ and Rnote. Xournal++ produces more optimized strokes, while Rnote is newer and has a bit different approach.