So for a long time I\'ve had a bad habit of going to the end of a line, hitting the i key and then hitting the right arrow to insert after that last character. Howeve
The $ positions you at the end of line.
Then, to enter insert mode AFTER the end of line, press a.
So, simply typing $a while in command mode will do what you are asking.
Use A command instead of i. The command appends text at the end of the line. See :help A
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In normal mode press A (uppercase). Vim will be switched to insert mode, and the cursor will be moved to the end of the current line ready for input.