Instead of drawing with a single isolated finger, try writing with an invisible pen: pinch your fingers together like you are holding a pen (e.g., index, middle

Instead of drawing with a single isolated finger, try writing with an invisible pen: pinch your fingers together like you are holding a pen (e.g., index, middle, and thumb), lower it to the screen until one finger touches, and then draw as if you had a pen in your hand. This lets you use your same muscle memory. No need to guess where your finger will register. I prefer this dramatically more than drawing with a mouse.