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In QGIS, many of the really good tools are in the processing toolbox; you need 'concave hull': Try it with different threshold values for different levels of detail: Finally, add a 10% buffer around the outside to make it resemble the sketch you provided:


Try Concave hull, What are Definition, Algorithms and Practical Solutions for Concave Hull? Concave hull has a smaller area, and most of implementations allows you to tune how small and precise resulting polygon should be.

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