He said (paraphrasing) that he hated UIs that require a stylus. He didn't say he hated stylus input, only when it's the primary form of input.I though Jobs hated styli of any kind. This goes against Apples core principles.
The reason an Apple Pencil makes sense (and might have been just fine with Steve) is because it doesn't take away the finger-input design that iOS is built around. They didn't build the first iPhone with a Pencil in mind, and it isn't going to become the primary form of input over a fingertip in the future.
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