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The best I can think of is illustration, but that doesn't quite fit. And "final version" seems to vague since I'm referring to just drawings, and maybe paintings.

"Doodle" implies something done quickly without much effort, attention to detail, or technical precision. I would say that its opposite would be something like "draft"; not in the sense of "the draft copy of a story", but in the sense of the creation of a draftsman – a technical drawing, so to speak.

No idea about the opposite of "sketch", though. It can mean a lot of things, and can imply a lot of technical skill and detail, unlike "doodle".

Okay, thanks. I always feel a bit bad about "clogging up" the "trending threads" with dumb stuff like this (even though I realize that these feelings are most likely unfounded) so I appreciate the userbase here for being nice enough to take my questions seriously and not go for the easy target that I am.