What worked for me is learning some better letterforms from some free images from the Write Now book (by Getty-Dubay) on italic cursive. It’s a different kind of cursive from the awkward one I was taught in school, and it’s a lot easier to write and read.
I think the biggest improvement in my handwriting was just finding letterforms in that book that are both easy to write but that are also more clearly distinguishable when you write quickly. For example, just putting a little curl at the bottom of my lowercase T’s, I’s, and L’s made them a lot more aesthetically pleasing but also more clearly distinct from other letters.
Once you find some letterforms like that, it just takes a little practice to rewrite your muscle memory.
I love finding similarities like these, and the one you mentioned about teletype is a new but really cool interpretation to me. Though I tend to view things more mechanically than naturally; I love playing factory games like Factorio and Satisfactory. I guess the natural metaphor I use most is the human body, which is a really complex system with lots of interacting subsystems. I forgot the name of the book & author but a medical doctor wrote a book on complex systems and said that any sufficiently complex system, like the human body, is always dealing with some degree of failure, so any artificial system needs to be fault-tolerant at many levels to continue functioning properly.