The scannable forms that you have to use are really a function of getting the shading to drop out of the scan so that the OCR/ICR (Optical Character Recognition/Intelligent Character Recognition) will be more successful without all the "noise" that random dots introduce.
In terms of handwritten forms, the IRS says,
"Although handwritten forms are acceptable, they must be completely legible and accurate to avoid pro..."
See the text under Paper Document Reporting in the General Instructions for Certain Information Returns (2019).
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