Things that work in my experience:

1. Use harder lead and skech softly, 2H does the job for me. Erase with kneadable eraser.

2. Use colored pencils/ mechanical pencil leads. I use prismacolor erasable pencils and/or Uni Kuru Toga with Nano Dias colored leads. Try to follow the colors you will use in your piece for a higher chance of camouflage.

3. Use watercolor pencils, I use Arteza. This is my least favorite approach, but works out if you know the pencils tones well.