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Well the Glo HD vs the iPhone 5S isn't a good comparison, they use different technologies to register your touch. And of course Apple is going to be more concerned with accuracy than Kobo since the majority of iPhone use requires touch.
The sketch pad can be found in the beta features, which is in Settings. If it's not there, it's possible you're on an older firmware though I tend to doubt this since the first thing the device does when you set it up is to look for updates, and the Glo HD is a fairly new device.
Pressing harder likely wont solve anything, the screen is an IR screen meaning there are infrared sensors around the edges of the screen and when your finger crosses the beams it triggers a response. As long as your finger crosses the beam it should work.
I've found using the pad of your finger works better than using the tip. To clarify the pad is where your fingerprint is, think of it like you're pressing a button.
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