Hi.
That image was drawn with a raster editor, most probably with the help of a tablet.
Using brush strokes with scattered edges.
Which makes it almost impossible to recreate by an exact match.
However there are ways to achieve partial results within inkscape that could suit your needs.
First of all, a vector program can handle storing data of geometric defined objects; the rest is rendering.
With filtering or with the help of raster images, you can achieve some sort of grainy look but it won't transfer for cnc/vinyl cutting etc.
Filters use primitives which can render a procedural textures -which rendering is live. The renderer needs to recalculate each part if you move in your viewport; and it gets exponentially slower if you zoom in.
A grainy texture can either be generated by some kind of turbulence, or using a raster image and using an appropriate blending mode.
Then, filtering can also be used to displace the rendering, making the edges appear jagged.
But here is where it starts to differ from the raster-drawn strokes. Everything will be displaced the same way, and you'll have no sharp edges.
Which could end up developing a more complex drawing than just applying a filter over all the drawing contents grouped together.
Like, applying the filter to individual objects and clipping those here and there.
Paper textures are fun and easy to generate, clipping is just beyond the regular scope of vector drawings.
Here are some examples:
This second one uses alot of clipping:
All in all a raster editor render filters looking just like inkscape with the difference they are not live and once they are rendered they are "merged" with the originals. So if you have a clean vector shape, using a raster editor won't really have an advantage producing the exact look as above -if not using them for painting with a brush.
