Eyedropper
Pick any color off the model, even mid-stroke, with a right-tap.
VIDEO ON THE WAY
Final video is on the way, thank you for your patience!
Choose the Eyedropper tool, or just right-tap the model with any tool active (also Alt/Cmd+left-tap). Because picking is not "drawing," it still works while the navigation gate is held.
A quick tap picks the color; hold and it becomes a drag instead (release within 5px and under one second to count as a tap). A before/after swatch shows the old and newly picked color.