It was not until today that I found out that Inkscape actually has a export option that solves this problem quite nicely. This is documented very nicely here. To create a drawing with LaTeX elements, simply enter the LaTeX code in a text box, export as PDF, and cross the box in the PDF export options. This will export the graphics to a PDF file and the text to a separate .tex file, which can then be included in the LaTeX document using this syntax (or similar):
\begin{figure}
\centering
\def\svgwidth{\columnwidth}
\includesvg{image}
\end{figure}
where the file name of the exported graphic is "image". Note that no additional packages are needed. Consult the documentation for more details.
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