Besides (finally) learning how to touch type, I've been training myself to write neater.
This has been something that I've struggled with much longer than my previous typing problem.
It seems that the trick to writing neater is to force yourself to use your whole arm to write rather than just your fingers.
Practicing on a whiteboard helps immensely. I now realize that the people who just are bad at writing on the board almost universally have been writing with their fingers. It's surprising how precise the arm can be until you are consciously training it.
Other than that, writing taller and narrower letters makes it easier to write neatly.
The main reason for this effort to write neater is because math notation is still poorly supported by computers and even styluses require decent handwriting.
The spur that convinced me that doing this was really worth it was pulling topology notes from 3 months ago, only to realize that I had no idea what I had written.