First, the AxiDraw does not have hands — you can certainly use it to create things that look handwritten.
Just because Inkscape has a lot of features doesn’t mean that you need to use them. For a lot of users, the process is to open a new document of the right size, click to select the text tool, click on the page to indicate where to put the text, and then start typing. That’s not much different from any other system that you might want to use for positioning text on a page.
Also, if your document is 99% the same, you can *save* the document, and then open it up for making little edits before you print the next page.