GoodNotes 5 can supply the Apple Pencil support that Notion is missing.
Notion doesn’t support handwriting inputs.
Writing in black is technically readable in dark mode, but you might be better off…
Yellow doesn’t work well in light mode.
The workflow on the iPad is pretty simple. GoodNotes 5 & Notion can be opened side-by-side. Write on GoodNotes 5, use the lasso tool to select your writing, long-press, copy. In Notion, long-press, paste.
And more!