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Video on youtube (french interface)
https://youtu.be/COaVwumUfkI
http://imppao.free.fr/images/2019/19dc_inkscape_croquis_sketch01.png
I use
Draw freehand lines F6
Stroke to path (Ctrl+Alt+C)
Tweaks objet by sculpting or painting (Maj+F2)
Bye
Imppao