Stuff I've cut for space
You missed out some stuff. You have to press on a resistive screen for it to register. On some devices you had to press quite hard. The level of pressure you have to put on the device changes the tactile feedback you get from it.
Imagine signing your name with a pen. Then imagine signing your name with a stylus through carbon paper. One is natural, the other is not.
With a capacitative screen you swipe across it with or without pressure. With a resistive screen you have to push on the screen. Under these conditions your finger is more natural and accurate, the stylus is less accurate not because of the hardware but because you are doing an unnatural action.