That's good to hear, work has me dealing with tons of people who do not have that handled lol.

In that case I'd suggest 3 things. Firstly, try different writing utensils. Nothing improved my handwriting so quickly like switching to 0.7mm roller ball pens. They provide a thick wet line that hides my naturally scratchy movement and allow for a smoother motion that I need to write cleanly.

Sencond, penmanship exercises. My son and I did them together to help his writing and it did a lot for me even if it was intended for second graders.

Third, learn a new writing style. We don't really think about it, but the method taught in schools is an industrialized process that won't quite fit every single student. The start points, tilt, angle of pen, character spacing, all of that can apply differently based on hand size, wrist angle, pen grip, etc. Instead, take characters you have a particular problem with and try writing them different ways until you find one that you like then just practice that to overwrite your indoctrination. I personally do my "a" with the top hook, my "E" has a ")" shape to its back, "jgq" all have invented hooks, "mnr" lose the solid bar, and any capital with a bar other than E gets the curves as triangles first with a down stroke added for the bar, so "D" looks like "|>" if the shapes were more proportional and overlapped.