Besides relying on software tools, you can train yourself to be confident in making longer, cleaner strokes.
You can try out croquis drawing. Quickly draw live models or everyday people within 5 minutes or less. Worry less about the details like eyes, lips, hair, clothing patterns, shoe laces, finger nails, etc. The purpose is to capture the silhouette resembling the model. Because you have to be quick, your hands will have to draw lines that are necessary -- without erasing. There's no time to draw short and overlapping lines (which all do in the beginning). Many animation courses in schools make the students do this because the industry requires them to draw hundreds of frames every day and preferably with long, clean and confident lines to save time.