Joplin's hand drawing is horrible.

Aside from basic stuff like a ruler and backgrounds missing, it's force recognition is made so it makes the whole line thicker, and once its thick it does not become thin once I don't press on it anymore

Fair enough, though there are plugins with other drawing editors. Maybe one of them fits the bill?

Also, PDF imports are missing

What kind of PDF imports are you talking about?

and the integration of handwriting into the note itself is very poor (just a link with a PNG render)

That’s probably a real limitation since it’s primary function is a markdown note taking app. It’s not as flexible as handwritten notes.

Obs: maybe Affine is of interest, they also have a comparison table with other note taking apps.