[McAroni]

You could simply set your pencils with different colors as favourites. Just set up your pencil with the color of your choice and tap the Star Icon at the top and the plus sign. Repeat the same with the next one and so on. Even thickness or opacity you cold set up.
My prefered way to enter the favourites is via the command bar. You can find it in the annotations editor at the top beneath the layers panel.
or enter the favourites via the Star at the top or via the radial menu