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For that you can also use Blender
Yeah, it’s a great tool for the job. Not as good as Zbrush, but I used it for print prep several times and it just has all the tools you might need.
Not really. Blender is NOT a CAD. It doesn’t ensure that your bodies are solid, it doesn’t provide any analysis tools, it doesn’t support working with blueprints/sketches, it’s not parametric, etc. Basically, it doesn’t do anything CAD at all.