There's also some note taking apps like Notability on iPad that can record lectures while you are taking notes and to connect the note with specific points in the lecture (each scribble is connected to a timemark on the recording so that tapping on a scribble during playback immediately plays what was said).
However, you need to use these tools effectively by minimizing notes so you can focus on listening and then after the lecture filling in the notes from memory and by listening again to the recording.
I had a friend in high school who was phenomenal note taker. He did really well in history class but failed miserably in math class. In math he couldn't see the forest for the trees because he wrote down every equation and every graph and was exhausted from doing so. He missed the key thread of discussion because of it but couldn't break the habit of taking notes fearful that he would miss something.
In contrast, I was a bad note taker often not knowing what should be written down and what shouldn't. Invariably when I attempted to write something, I'd miss an important point. However in math class, I sat, I listened and then I did the problems using the book as a guide and did really well.
Sometimes I think we need to go back to the really old days where you listened, you learned and you took mental notes as paper and pencils were scarce to nonexistent. We need to strengthen our inner mental skills because that's what really matters. However, we know everyone learns differently and we need different tools to help us learn effectively with the trick being to discover what tools and methods work best for us.