Is it possible to record audio with org-mode (and then categorize/annotate)?

I haven't seen any plugin to do audio recording from Emacs, but it should be easy (if you're willing to dig into elisp a bit; it's not hard) to invoke any kind of CLI tool for that, and then a/ move the output recording to a proper place, and b/ capture the link for org-mode.

And do quick drawings with a stylus on the screen?

There are picture-mode and artist-mode in Emacs for that, but I haven't tested any of them with a stylus and a touchscreen, and draw in text mode.