Dual-ESP32 Sensor UI Firmware

I’m building a handheld, battery-powered pen that can trace flat surfaces and get clean vector files from im looking into if anyone has input or upgrades to make it more accurate the twisting of the pen throws it off currently that uses two ESP32 boards in tandem... (Budget: $10 - $30 USD, Jobs: Arduino, Electronics, Embedded Systems, Firmware Development, Microcontroller, PCB Layout, Project Management, Software Documentation)