Perhaps one of the more sensible alternatives to the Apple Pencil stylus for iPads is the SonarPen and it's now getting a second generation. The SonarPen 2's key selling point is its battery-free design and the support for some advanced features at a fraction of the Apple Pencil's price.
The SonarPen 2 is powered by a cable that you plug into the iPad's USB-C port, which is a bit of an inconvenience, but it's a pretty simple and straightforward solution. That's what makes it cheap and particularly useful for classrooms that use iPads, for example. You don't have to charge all the styluses nor do you have to pair them with the iPads.
In addition to the pressure sensitivity and palm rejection features, the SonarPen 2 brings tilt sensitivity, a shortcut button and a new pointy nib design for enhanced precision.