If you look at samsung galaxy note 10 (and the upcoming galaxy note 8) the ipad is lagging behind in many features. However, the design of the samsung is, um...lacking.
The ipad would be awesome if it had an active digitizer. Basically, this would recognize stylus input as fundamentally different than touch input. The fact that the ipad does not have an active digitizer is the #1 reason why writing on the ipad sucks. Throw in an active digitizer and you can take notes with a pressure-sensitive stylus that is basically as easy as writing on paper.
There are capacitive styluses being manufactured.