We have dealt with dysgraphia in our homeschool. I’ve written several posts related to that which you can find here: dsygraphia. Over time, we had solid results related to this issue. Caroline learned to write cursive and generally does well with handwriting.
One of the areas Caroline worked on when she was younger involved crossing the midline. There were a number of exercises she did at the time under the guidance of the OT with whom she worked. The cross crawl is one we’ve used that worked well. (It’s the first exercise in this video.) We still use this exercise at times as it integrates the right and left halves of the brain. I’ve even found that when I feel rather dull mentally that doing this exercise for a few minutes helps me as well.