There is a Clothoid script.

For "tracing", the Clothoid script can be used.
But using a pair of tangents, and the Blend command works very well, perhaps better than the Clothoid method, IMHO.
(repeat Blend with multiple tangent pairs.) The History effect on Blend is also handy.

https://raphlinus.github.io/curves/2019/05/10/spline-licensing-update.html
The Raph Levien spiro patent was placed in public domain ~ 2019, per above link. Legalities?
There was talk on the forum many years ago...

- Brian

https://graphicdesign.stackexchange.com/questions/76007/what-is-the-math-governing-the-shape-of-inkscapes-spiro-paths

As I recall, the Clothoid script was based upon a Paper, and used advanced math and programming, even calculus programming...