1. Drawing- drawing is about gesture, silhouette, acting, shape design, solidity/construction, getting the proportions right. You do these things to CONVEY AN IDEA QUICKLY. This is a drawing:

2. Clean-up- This concept exists only in animation. It's about streamlining the roughs- picking the right C, S, and I lines, avoiding tangents, avoiding parallel lines, and flipping to ensure it animates as intended. And you make these choices to ultimately ANIMATE. That's why clean-up is not inking.
3. Inking- Inking is NOT drawing or cleanup. Inking is rendering. Inking is about feeling out a hard or a soft edge, texturing, varying the line weight for clarity, spotting blacks. You make choices that ultimately get you to a CLEARER PRETTIER version of a drawing. It's only similar to clean-up in that you also have to be cautious of avoiding tangents and parallel lines.
The mistake I always made is that I always thought that inking was the same thing as cleaning up a drawing, and that cleanup is just re-drawing the gesture better. NO. YOU CANNOT DO THIS. All of these things are completely conceptually different! If you misunderstand this, you only end up with a bad clean drawing, or it only looks good because you shit it out of your ass and tried super hard.
The catch is- cleanup and inking help your fundamental drawing abilities tremendously- I think mostly in a physiological/memory associated way. The simple experience of feeling what the "actual finished" lines of a character brings you a greater understanding of how the lines are spaced out, and how much pressure you need.
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