Using your 3D Printer as a pen plotter adds a new tool to your toolbox. The printed holder includes a springy mechanism for some compliance and pen pressure such that exact z height is not required for pen plotting.
https://www.thingiverse.com/thing:4937720
Simply print two copies and attach them to the Voron Afterburner print head using slightly longer screws (to accomodate for the additional depth).