Hi scuttler,
The apple pencil is significantly better in use than any alternative. It has undetectable lag/response, very satisfying to use with apps (pressure sensitivity, using on its side etc), and has bullet proof BT connect ability. Only complaints I have is the charging solution of having it sticking out of the lighting port in the iPad is really not ideal (though it is fast), and that the gen 1 Apple Pencil is too long. 2nd gen one, which only works with the most recent iPad Pros, cures both issues.
I started, years ago way before Apple Pencil, using the rubber tipped things which are really very bad. Then I tried various 3rd party bluetooth options which are also severely limited in usability – either by connection issues, or lag/response time
I can imagine you spending some time with kids consistently sorting connection issues and glitches, whereas, I hate to say it, in my experience over the last 4 yrs, the Apple Pencil ‘just works’