Compare 1996's "FITALY":
"For the FITALY layout, we have obtained an average travel of 1.8, to be compared to an average travel of 3.2 for the QWERTY layout. (For prose, involving few numbers and symbols, the results are even better.)"
https://www.textware.com/fitaly/fitaly.htm
https://the-gadgeteer.com/1998/08/22/fitaly_review/
And closer to OP, "HexInput":
"Please use this idea! If you are a software developer, I urge you to consider adding this functionality to your product. My hope is that ten years from now, we won't have to laboriously tap out messages letter by letter, but instead will be able to zip them out quickly and efficiently with something like HexInput." -Sept2006
https://www.strout.net/info/ideas/hexinput.html
1996, 2006, 2026... Your turn?
This is what immediately popped into my mind. I remember using this back in the early 2000s.
There were a _lot_ of programs in this space, one of the more interesting was AlphaTap! by Network Improv:
http://networkimprov.net/alphatap/light.html
c.f., the research project:
https://dasher.zone/docs/getting-started/how-to/
For my part, I just write text out using a Wacom stylus on my Note 10+