This pen is not as expensive as Apple Pencil but supports some of the more advanced features:
https://www.logitech.com/en-us/product/crayon
I think this is the only stylus so far other than Apple Pencil that integrates directly with Apple SDK for extended touch/pen events. (Palm rejection, angle detection are supported but not pressure-sensitivity).
I don’t think any iOS apps integrate with S-Pen for pressure sensitivity etc., and other styli with extended features have their own SDKs which app developers must integrate with for the other features. You can use any stylus with a capacitative tip (active or passive) as a substitute for anything your finger can do.