One of the interesting things about Procreate is its ability to draw in layers. All artists use techniques like this whether through tracing or letting oil paint dry layer at a time. In mediums like comic books, this is especially true where the storywriting, sketching, inking, colouring and lettering are done by different artists. Sketching is done by the Penciller, who would go through multiple layers of drawings that eventually get traced on with an inking phase to give the final refined, consistent look.
With “rapid visualisation”, ideas start off as basic shapes. Through multiple iterations, we can start to increase detail and fidelity. Over many layers, we can drive the character or object towards the feel we want.
Let’s try to draw an elephant as an example...