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Tap the Markup button on the top toolbar on iPad and Mac to show the drawing tool picker: Markup
On iPhone, you may need to tap the ellipsis (…) button on the top toolbar to show the “Edit” button
The drawing tool picker can be moved anywhere on iPad by dragging it over to your desired side. It can also be automatically hidden while writing to give you more space on the canvas.

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Supported methods of drawing

DeviceDrawing Tool
iPhoneTouch, capacitive stylus
iPadTouch, capacitive stylus, Apple Pencil, compatible third-party iPad stylus
MacMouse
Vision ProTouch, spatial drawing accessory (Logitech Muse)