Pencil definitely lasts if the paper is undisturbed. I have some paperwork that's 100+ years old and with legible pencil text. On the flip side, if the paper is handled a lot, the writing will gradually fade because graphite particles just sit on the surface and can flake off.

On some level, the medium is your main problem. Low-grade paper, especially if stored in suboptimal conditions (hot attic, moist crawlspace, etc), may start falling apart in 20 years or less. Thick, acid-free stock stored under controlled conditions can survive hundreds of years.

DRAM works that way but flash doesn't. Read disturb is a different issue.

pretty much all USB drives now use NOR flash

Nope, NOR flash is much more expensive than NAND so NOR is only used for firmware and everything else is NAND.

This only happens very rarely, though more frequently as NAND flash goes QLC and beyond.

Besides, other experiments have shown that data remanence is way more of an issue with drives that are almost completely worn out (way beyond their specified TBW) and about to croak. Even then you only get rare bitrot that can be checked for and compensated quite cheaply in most cases.

If you take fresh media, write it just once or a few times at most, use substantial overprovisioning to keep the drive in its fast pseudo-SLC mode, and reread the media periodically, NAND can be a good enough storage system for most casual needs.

For the rest of us, a USB spinning rust hard drive formatted as exFAT is going to be hard to beat. You'll be able to plug this into virtually any computer made in the next few decades (modulo a USB adapter or two) and just read it. They are cheap (even allowing for the rising cost of storage), fast, and most importantly, they are easy. The data is stored magnetically, so is not susceptible to degradation just from sitting like SSDs or flash drives are.

Of course, you should not store any important data on only ONE drive. The 3-2-1 backup rule applies to archives as well: 3 copies, 2 different media, 1 off-site.

If we’re talking the average tech-illiterate to literate-but-cost-and-space-constrained person, probably Blu-Ray. A burner+reader combo with a stack of dual-layer discs is probably cost-effective. High-capacity HDDs would probably be equally effective if you can guarantee that they’re stored away from accidents and mishandling, but if it requires a SATA-to-USB adapter with assembly then it might possibly be out of reach for some consumers, and any risk of damage from movement could rule it out entirely.

If we’re talking tech-savvy consumers who don’t have the IT budget of a corporation, maybe LTO-5 or LTO-6 tapes could work. Tapes themselves are very affordable and have a good shelf lifespan. Used libraries can be had for under $600. The primary issues would be finding one with an interface that works with your existing equipment and software to support tape read and write.