Draw a sketch with the pencil, then finalize the sketch with final lines when you already know where's what and what shape it is. And finally, erase the pencil. Isn't that how those are supposed to be done?
Idk wether i should assume you know this or take your words at face value but i guess you could just do like the manga artists you mentionned ? Draw the draft with a normal lead pencil then ink it. It would be a nice exercise for you to "renew" with the roots of the medium you chose to express
Honestly, one of the simplest ways around needing to erase is make your pictures more complex. The more lines and shading you actually have, the less bad lines will actually show up. It will eventually get to a point of no return, but you can survive a few errors.