Tips for using Apple Pencil with essential tremor

Whilst not explicitly for Apple Pencil, here are links to articles by Abilitylab and the Parkinson's Foundation:

https://www.sralab.org/sites/default/files/downloads/2021-01/iphone%20adaptation_education_3.pdf

https://abilitynet.org.uk/news-blogs/how-changing-settings-your-ipad-and-iphone-can-help-people-tremors

Beyond these, consider contacting Apple Support and request to speak with an Accessibility specialist. Apple have a team dedicated to offering support for accessibility issues. They will be able to offer help and support with suggestions and specific settings for users with difficulties with motor function and other disabilities.

You can contact Apple Support using the Get Support link at top-right of this page. Alternatively, you can initiate contact, or open a support case, using the excellent Apple Support App. If not already installed on your Apple device(s), the App can be downloaded from the App Store:

https://apps.apple.com/gb/app/apple-support/id1130498044

I hope this information is helpful in obtaining the specialist help that you need.