Use rulers 100% of the time. Sort of approach it like drafting.
Some recommended resources:
The benefit — elastic bands / rubber bands are much quicker to place. The challenge — you have to learn how to freehand straight lines because you can't push against a solid ruler any more.
Recommended resources:
Use a ruler very infrequently, and freehand most of it. Approach it like a sketch artist might.
It goes much much faster, and it allows you to draw much more organic shapes.
Even here though, there are some artists who draw in a more precise style [1] [2] [3] and others who use more of a rough-sketch style [1] [2].
(I will never have the skill to do this last one, but it's interesting to see that it's possible.)