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It’s not just a matter of being able to erased. I imagine if you ask an OT, they will tell you that one needs to press harder with a pencil than a pen. Which means they have to hold the pencil with a firmer grip. It trains their muscles so that they can write the letters properly. When they master that, they can use the easier to write with pen. Kind of like having to memorize the multiplication tables at age 8, but then being able to use a calculator when older.
I used a mechanical pencil for math even in college- so much easier to correct an answer. white-out is just messy, smelly, hard to write over it. Erasable pens did not really exist then- those that claimed to be erasable were not really that erasable.