Can you program the arp with the keyboard?

Twisting the encoder to get to the desired note and not being able to easily see what that note is on screen is kind of a hassle.

It’s also so easy to miss the desired note by a semitone or two which makes it a feature that isn’t really playable in a variety of live scenarios.

Is there a way to hold an arpeggiator step and press a keyboard note while programming the arp? I know that there are workarounds, but I’m hoping that I’m missing something.