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My problem in a nutshell: I seldom use a dowel or shovel handle, and nearly always use what I cut in the woods. Thus, my sticks are of varying diameter, and they are nearly straight only when I use something like red cedar. So, the definition of "parallel to the axis of the stick" depends on what part of the stick you mean. Often the lowermost few inches isn't perfectly aligned with the rest.
I have a little metal drillbit guide for common bit sizes that facilitates perpendicular holes on flat surfaces. This is difficult to align on the end of a stick. Sometimes I select a piece of copper tubing or a fitting of a size that will fit loosely over the end of a stick, and then I have a perpendicular, circular surface, perpendicular to the tubing or fitting, and to the section of the stick that it encompasses. My drill guide can then be laid on the end of the tubing or fitting. Sometimes, I just eyeball it and hope for the best.
I have a little metal drillbit guide for common bit sizes that facilitates perpendicular holes on flat surfaces. This is difficult to align on the end of a stick. Sometimes I select a piece of copper tubing or a fitting of a size that will fit loosely over the end of a stick, and then I have a perpendicular, circular surface, perpendicular to the tubing or fitting, and to the section of the stick that it encompasses. My drill guide can then be laid on the end of the tubing or fitting. Sometimes, I just eyeball it and hope for the best.