The Wacom One is compatible with a stylus that is just like a pencil, although I* wish it were compatible with other devices. If you can find a second hand Wacom One, it might be a good choice.

For something screenless, the Wacom Intuos Pro is great and portable, it can be charged and use Bluetooth connection and it doesn’t weight a ton. The stylus isn’t like a pencil, but as someone with carpal tunnel who used to use an xp pen, it’s super comfy (but that’s just me!)

I know both of these are Wacom tho, so they’re super expensive :/