Why isn't there an S-Pen type device for the ipad?

Why can't the ipad have a device like the S-Pen for the Samsung Note 8? They really need to develop an iPen or something because I'm tired of buying crappy stylus that gives me illegible handwriting and I don't mean a pen for drawing or painting. I've seen enough crap from that Bluetooth pen or whatever. People want a device that feels like paper when you are writing on it. I'm about to jump ship to the Note 8 if the next ipad doesn't have a stylus made by apple for the ipad for legible handwriting and note taking. Their stocks went down and I think an iPen would demolish all other competitors.