This might be something of interest for you pla guys. I know they've been out for a couple of years, but ya might have missed them. https://scribbler3dpen.com/
I've had one of these for a few years..... Took it out of the box once. Put it back and I'm not even sure where it's at now
I bought it to use it to join 3d printed parts and /or make repairs on failed prints. I tried it out and it didn't do what I wanted. in the intervening years I have bought a better 3d printer so that it's not needed for that. I never got around to trying to freehand anything So I can't comment on how it does that task.