This is a well know issue that has been discussed a couple of time, the point of view of the developer is that for the time being, there are many other things that require more attention that the things that are already pretty well done with CAD software.
However @craftyjon has been doing an amazing job with the new dimensioning tool of v5.99
https://forum.kicad.info/t/post-v5-new-features-and-development-news/15693/273
https://forum.kicad.info/t/post-v5-new-features-and-development-news/15693/277?u=der.ule
https://forum.kicad.info/t/post-v5-new-features-and-development-news/15693/273?u=der.ule
and who know, maybe he tackles the drawing tools next.
You can of course try to use a couple of trick and tips, but it is indeed “complicated”