Original S Pen nibs come with soft textured tips. For some reason, it's difficult to find and buy the original Samsung S Pen nibs so you have to buy the pen nibs from third party.
These Staedtler Noris Digital replacement nibs are interchangeable on both S Pens for Samsung tablets and phones.
The Staedtler Noris Digital replacement nib has a soft tip. Most generic replacement nibs are made with plastic throughout and have hard tips (see the gloss on the tip).
Advantages of having a soft tip is you get a dampened soft when tapping on the glass surface while writing or drawing. There's also slightly more resistance with the pen tip on the glass. The pen tip is still very smooth so it's not a paper-like experience but there's slightly more resistance compared to a hard plastic tip gliding on glass.
Changing the pen nib will not affect the pressure sensitivity of the pen.
Interestingly, during my test, I found out the original Staedtler Noris Digital is actually more sensitive than the Samsung S Pen. I mean the Staedtler Noris Digital can draw thinner lines and hence can produce a wider variety of line widths more easily compared to the S Pen.
Downside is the tip size looks smaller than the original S Pen tips so they look flimsy. Length is similar so it's just the tip that looks smaller.
Price of the Staedtler replacement nibs is US $9.99 and you get five in a pack together with the nib remover.