[muraiki]

One thing that helped me with this was getting good quality pencils where I can use a minimal amount of pressure (a non-ballpoint pen also works). I also had to unlearn gripping the pencil hard and tensing my wrist. Good handwriting doesn't require tension: tension can occur because of misplaced effort at trying to write more nicely.

I relearned the motions of how to handwrite using Briem's handwriting repair curriculum: https://sites.google.com/view/briem/free-books/handwriting-r... Now I really enjoy writing by hand. Of course if I'm writing quickly the quality isn't as nice as when I can take more time.

There is a section on the site specifically about hand tension here: https://sites.google.com/view/briem/handwriting/writing-cram...