No, I’m not ambidextrous, I think drawing with you’re not dominant hand is not thaaaat difficult, you just have to draw very controlled and slow. You won’t be able to draw any quick lines or small details. So the hands and faces will look crappy but the overall figure/pose will look fine. And of course the pentelbrush makes it all a bit prettier.
It will also get better if you practise it a bit. It’s a slow process but it works.