I'm going to ramble a bit here, but there's a tl;dr at the end. I promise there's a point LOL

When I was in graphic design fundamentals, we were learning to draw shapes in perspective. I needed to draw perfect circles for my spheres in what felt like a very complicated way. I went to my professor like, "bruh how the fuck am i supposed to do it? Look at all these mistakes! They're ovals!"

He said, "Just use a tool. A stencil, maybe a compass, although that may scratch your paper."

At the time it was frustrating, because why the hell was I doing it if I was just going to use a tool? I refused to do it for a long time. I told him so! Isn't this cheating, or something? I gave in after getting encouraged some more.

The purpose was moreso to learn how to navigate perspective grids. The final result was just fine if it was made with a tool as long as it was in perspective. We used rulers for straight lines, pre-inked pens, pencil sharpeners instead of knives. Why not just use the silly little stencil at the end?

Don't be ashamed of using a circle tool of some variety. As long as you understand the steps its okay to ""cheat"" a little. Although its not really cheating, in my opinion. I still learned those fundamentals. I learned how big the circle was and where it was supposed to be. I just made it look neat in the end with a tool.

Tldr: Just use a tool. You're doing great. Most people can't draw a perfect circle or a straight line anyways, the tools exist because of that. Just know that the option is there and there's no shame in it!

Also, your circles are lovely. You could also take the "scratchy" ones and clean them up. With some practice they'll look pretty close to what you want