Hi @KatieRandall,
Unfortunately there are no updates at this stage, and the scribble feature on iOS is not supported. There are underlying dependancies in the Qt framework which need to be supported first, so the scribble feature can be used in Survey123. For more information see: https://bugreports.qt.io/browse/QTBUG-90932
However the Apple Pencil will still work with Survey123 for touch input, scroll inputs, or text selections, just not for scribble handwriting inside a text field.
The original poster never logged an issue with Esri Support, so if you could, raise an issue with Esri Support so we can officially log this and have it attached to your account and you will be able to get updates based on the case number provided to you.
Regards,
Phil.